tree 6ac389b8c60cfc85700f2aefea4f63c27f3df709
parent 39e397b79369df3eb0c9833d7df0cf9bb43113b4
author Sameer Agarwal <sameeragarwal@google.com> 1414629100 -0700
committer Sameer Agarwal <sameeragarwal@google.com> 1415861798 -0800

Fix RotationMatrixToAngleAxis near Pi.

Use Eigen's much more complicated conversion routine
when we encounter cases where the angle of rotation is
close to Pi.

Along the way also fix the way angle_axis vectors are
compared by making the matcher more robust.

Thanks to Tobias Strauss for reporting this.

Change-Id: Ia7e65dafad92c48d29d5f3cd22c4d6534789c183