tree 1dd582160ccfab418654a4240495e52f12c1a428
parent 7c0ac8f9956ffe2ed7d386cd801265af28865eff
author Sameer Agarwal <sameeragarwal@google.com> 1415922670 -0800
committer Keir Mierle <mierle@gmail.com> 1415948250 +0000

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