* fix Quaternion::setFromTwoVectors (thanks to "benv" from the forum)

* extend PartialRedux::cross() to any matrix sizes with automatic
  vectorization when possible
* unit tests: add "geo_" prefix to all unit tests related to the
  geometry module and start splitting the big "geometry.cpp" tests to
  multiple smaller ones (also include new tests)

doc/D01_StlContainers.dox

@@ -14,7 +14,7 @@ Using STL containers on \ref FixedSizeVectorizable "fixed-size vectorizable Eige
 \li A 16-byte-aligned allocator must be used. Eigen does provide one ready for use: aligned_allocator.
 \li If you want to use the std::vector container, you need to \#include <Eigen/StdVector>.
 
-These issues arise only with \ref FixedSizeVectorizable "fixed-size vectorizable Eigen types". For other Eigen types, such as Vector3f or MatrixXd, no special care is needed when using STL containers.
+These issues arise only with \ref FixedSizeVectorizable "fixed-size vectorizable Eigen types" and \ref StructHavingEigenMembers "structures having such Eigen objects as member". For other Eigen types, such as Vector3f or MatrixXd, no special care is needed when using STL containers.
 
 \section allocator Using an aligned allocator
 
@@ -32,7 +32,7 @@ Note that here, the 3rd parameter "std::less<int>" is just the default value, we
 
 \section vector The case of std::vector
 
-The situation with std::vector was even worse (explanation below) so we had to specialize it for Eigen types. The upside is that our specialization takes care of specifying the aligned allocator, so you don't need to worry about it. All you need to do is to \#include <Eigen/StdVector>.
+The situation with std::vector was even worse (explanation below) so we had to specialize it for Eigen types. The upside is that our specialization takes care of specifying the aligned allocator, so you don't need to worry about it. All you need to do is to \#include <Eigen/StdVector> instead of (or before) \#include <vector>.
 
 So as soon as you have
 \code

doc/D11_UnalignedArrayAssert.dox

@@ -50,7 +50,7 @@ std::map<int, Eigen::Matrix2f> my_map;
 
 then you need to read this separate page: \ref StlContainers "Using STL Containers with Eigen".
 
-Note that here, Eigen::Matrix2f is only used as an example, more generally the issue arises for all \ref FixedSizeVectorizable "fixed-size vectorizable Eigen types".
+Note that here, Eigen::Matrix2f is only used as an example, more generally the issue arises for all \ref FixedSizeVectorizable "fixed-size vectorizable Eigen types" and \ref StructHavingEigenMembers "structures having such Eigen objects as member".
 
 \section c3 Cause 3: Passing Eigen objects by value
 

doc/I05_FixedSizeVectorizable.dox

@@ -31,7 +31,7 @@ Fixed-size objects are typically very small, which means that we want to handle
 
 Now, vectorization (both SSE and AltiVec) works with 128-bit packets. Moreover, for performance reasons, these packets need to be have 128-bit alignment.
 
-So it turns out that the only way that fixed-size Eigen objects can be vectorized, is if their size is a multiple of 128 bits, or 16 bytes. Eigen will then request 16-byte alignment for these object, and henceforth rely on these objects being aligned so no runtime check for alignment is performed.
+So it turns out that the only way that fixed-size Eigen objects can be vectorized, is if their size is a multiple of 128 bits, or 16 bytes. Eigen will then request 16-byte alignment for these objects, and henceforth rely on these objects being aligned so no runtime check for alignment is performed.
 
 */