[eigen] quaternion transcendentals

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A brief look at the documentation suggests that eigen does not support
exp() for the quaternions.  (But perhaps I just missed it in my clumsy
and hasty review. :^)

So I am wondering if anyone has looked at the possibility of doing
something like this for eigen:


Thomas E. Vaughan

There are only two kinds of people; those who accept dogma and know
it, and those who accept dogma and don't know it. - G.K. Chesterton

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