Re: [eigen] geometry module

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> By the way --- others: shouldn't Isometry be CompactAffine instead of
> Affine? Or should there be a CompactIsometry, etc.

=> we should add a CompactIsometry, I remember we already agreed on
that, but this has not been done yet.

> So that makes me think that I'm not sure how much I like the name
> Rotation2D for that. How about Angle2D instead? Would be consistent
> with AngleAxis.

Why not, it is indeed consistent with AngleAxis. That also makes me
think Rotation2D::slerp is bugged since it naively interpolate the


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