Various documentation improvements, in particualr in Cholesky and Geometry module.

Added doxygen groups for Matrix typedefs and the Geometry module

doc/Doxyfile.in

@@ -1191,7 +1191,9 @@ PREDEFINED             = EIGEN_EMPTY_STRUCT \
 # The macro definition that is found in the sources will be used.
 # Use the PREDEFINED tag if you want to use a different macro definition.
 
-EXPAND_AS_DEFINED      = EIGEN_MAKE_SCALAR_OPS
+EXPAND_AS_DEFINED      = EIGEN_MAKE_SCALAR_OPS          \
+                         EIGEN_MAKE_TYPEDEFS            \
+                         EIGEN_MAKE_TYPEDEFS_ALL_SIZES 
 
 # If the SKIP_FUNCTION_MACROS tag is set to YES (the default) then
 # doxygen's preprocessor will remove all function-like macros that are alone

doc/snippets/AngleAxis_mimic_euler.cpp

@@ -1,4 +1,4 @@
 Matrix3f m = AngleAxisf(0.25*M_PI, Vector3f::UnitX())
            * AngleAxisf(0.5*M_PI,  Vector3f::UnitY())
            * AngleAxisf(0.33*M_PI, Vector3f::UnitZ());
-cout << m << endl;
+cout << m << endl << "is unitary: " << m.isUnitary() << endl;