From de1c884687aeb46d59c2dbbdf1a5723de78c63f6 Mon Sep 17 00:00:00 2001
From: Rasmus Munk Larsen <rmlarsen@google.com>
Date: Wed, 24 May 2023 15:52:26 +0000
Subject: [PATCH] Add reference to writeup of approach used in
 canonicalEulerAngles.

---
 Eigen/src/Geometry/EulerAngles.h | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/Eigen/src/Geometry/EulerAngles.h b/Eigen/src/Geometry/EulerAngles.h
index 32689f0d4..b9cce671c 100644
--- a/Eigen/src/Geometry/EulerAngles.h
+++ b/Eigen/src/Geometry/EulerAngles.h
@@ -34,6 +34,8 @@ namespace Eigen {
   * For Tait-Bryan angle configurations (a0 != a2), the returned angles are in the ranges [-pi:pi]x[-pi/2:pi/2]x[-pi:pi].
   * For proper Euler angle configurations (a0 == a2), the returned angles are in the ranges [-pi:pi]x[0:pi]x[-pi:pi].
   *
+  * The approach used is also described here: https://d3cw3dd2w32x2b.cloudfront.net/wp-content/uploads/2012/07/euler-angles.pdf
+  *
   * \sa class AngleAxis
   */
 template<typename Derived>