Re: [eigen] Eigen and rigid body simulation

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OK, last spam, I promise.

I was confused that you called these functions log() and exp(), which
are generic math names. So I see 2 cases:

- either this is indeed generic math stuff, in which case you can
choose names that sound like mathematics not mechanics, and that can
go into Geometry.

- or this is NOT generic math stuff, it's mechanical stuff, in which
case don't use generic math names such as log, exp, Rotation3D.


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