tree e18814632f80349dfd319936c5c25f060258314b
parent 0e2743e24d013b25109396cfa0d8d0f1e8e84964
author Sameer Agarwal <sameeragarwal@google.com> 1382721624 -0700
committer Sameer Agarwal <sameeragarwal@google.com> 1382734432 -0700

Fix AngleAxisToRotationMatrix near zero.

The Taylor series approximation had its sign flipped and the
tests did not catch it since we were switching exactly at zero,
which was not getting triggered.

This changes modifies the tolerance, adds a test that triggers
and fixes the bug.

Thanks to Michael Samples for reporting this.

Change-Id: I6f92f6348e5d4421ffe194fba92c04285449484c