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Numerically stable implementation of axis, angle and scaled_axis for Rotation3 and UnitQuaternion - #1595

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nmayorov wants to merge 6 commits into
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nmayorov:robust_axis_angle
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Numerically stable implementation of axis, angle and scaled_axis for Rotation3 and UnitQuaternion#1595
nmayorov wants to merge 6 commits into
dimforge:mainfrom
nmayorov:robust_axis_angle

TST: Test angle computation from Rotation3 for tiny rotation computed…

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