From c7eda0d866f59c01598168805f5cd20206e64732 Mon Sep 17 00:00:00 2001
From: Gael Guennebaud <g.gael@free.fr>
Date: Sun, 31 Oct 2010 23:26:01 +0100
Subject: [PATCH] Let's be safe: enable auto normalization is quaternion to
 angle-axis code since a slight numerical issue may trigger NaN. The overhead
 is small and I doubt the perf of this function could be critival for any
 application !

---
 Eigen/src/Geometry/AngleAxis.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Eigen/src/Geometry/AngleAxis.h b/Eigen/src/Geometry/AngleAxis.h
index f3398d0be..adab3ce32 100644
--- a/Eigen/src/Geometry/AngleAxis.h
+++ b/Eigen/src/Geometry/AngleAxis.h
@@ -176,7 +176,7 @@ AngleAxis<Scalar>& AngleAxis<Scalar>::operator=(const QuaternionBase<QuatDerived
   }
   else
   {
-    m_angle = 2*std::acos(q.w());
+    m_angle = Scalar(2)*std::acos(q.w()/*/internal::sqrt(n2+q.w()*q.w())*/);
     m_axis = q.vec() / internal::sqrt(n2);
   }
   return *this;