Re: [eigen] Rotations and unit vectors |
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1 - performance drop without -DNDEBUG (probably acceptable)
2 - the axis vector can be changed with the .axis() method. Therefore
we should assert for unit vectors anytime it is assumed to be so. This
concerns many more functions.
3 - Which tolerance? Shall we strictly enforce that
axis.normalized()==axis? shall we tolerate some epsilon??
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