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add a geometry unit test and fix a couple of typo in Quaternion.h
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@@ -165,7 +165,7 @@ namespace Eigen {
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template<typename T> inline typename NumTraits<T>::Real test_precision();
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template<> inline int test_precision<int>() { return 0; }
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template<> inline float test_precision<float>() { return 1e-2f; }
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template<> inline float test_precision<float>() { return 1e-3f; }
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template<> inline double test_precision<double>() { return 1e-5; }
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template<> inline float test_precision<std::complex<float> >() { return test_precision<float>(); }
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template<> inline double test_precision<std::complex<double> >() { return test_precision<double>(); }
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