| commit | 730aa537cde7891a4951f6554110b4619f624efd | [log] [tgz] |
|---|---|---|
| author | Sameer Agarwal <sameeragarwal@google.com> | Thu Nov 13 15:51:10 2014 -0800 |
| committer | Keir Mierle <mierle@gmail.com> | Fri Nov 14 06:57:30 2014 +0000 |
| tree | 1dd582160ccfab418654a4240495e52f12c1a428 | |
| parent | 7c0ac8f9956ffe2ed7d386cd801265af28865eff [diff] |
Add RotationMatrixToQuaternion. Use this function to implement RotationMatrixToAngleAxis. This simplifies the implementation of RotationMatrixToAngleAxis, just like Eigen does. It is also autodiff compatible, unlike the Eigen based version. Also significantly improve the test coverage of RotationMatrixToAngleAxis. Change-Id: Ic192a12fb5de952197ee24b0deedc45f195477f1