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3860a0bc8f6af25d9115a66db1bdd3d7cad9b99a
bug #1312: Quaternion to AxisAngle conversion now ensures the angle will be in the range [-pi,pi]. This also increases accuracy when q.w is negative.
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Eigen is a C++ template library for linear algebra: matrices, vectors, numerical solvers, and related algorithms.
For more information go to http://eigen.tuxfamily.org/.
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