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diff --git a/third_party/eigen3/Eigen/src/Geometry/AngleAxis.h b/third_party/eigen3/Eigen/src/Geometry/AngleAxis.h
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--- a/third_party/eigen3/Eigen/src/Geometry/AngleAxis.h
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-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_ANGLEAXIS_H
-#define EIGEN_ANGLEAXIS_H
-
-namespace Eigen { 
-
-/** \geometry_module \ingroup Geometry_Module
-  *
-  * \class AngleAxis
-  *
-  * \brief Represents a 3D rotation as a rotation angle around an arbitrary 3D axis
-  *
-  * \param _Scalar the scalar type, i.e., the type of the coefficients.
-  *
-  * \warning When setting up an AngleAxis object, the axis vector \b must \b be \b normalized.
-  *
-  * The following two typedefs are provided for convenience:
-  * \li \c AngleAxisf for \c float
-  * \li \c AngleAxisd for \c double
-  *
-  * Combined with MatrixBase::Unit{X,Y,Z}, AngleAxis can be used to easily
-  * mimic Euler-angles. Here is an example:
-  * \include AngleAxis_mimic_euler.cpp
-  * Output: \verbinclude AngleAxis_mimic_euler.out
-  *
-  * \note This class is not aimed to be used to store a rotation transformation,
-  * but rather to make easier the creation of other rotation (Quaternion, rotation Matrix)
-  * and transformation objects.
-  *
-  * \sa class Quaternion, class Transform, MatrixBase::UnitX()
-  */
-
-namespace internal {
-template<typename _Scalar> struct traits<AngleAxis<_Scalar> >
-{
-  typedef _Scalar Scalar;
-};
-}
-
-template<typename _Scalar>
-class AngleAxis : public RotationBase<AngleAxis<_Scalar>,3>
-{
-  typedef RotationBase<AngleAxis<_Scalar>,3> Base;
-
-public:
-
-  using Base::operator*;
-
-  enum { Dim = 3 };
-  /** the scalar type of the coefficients */
-  typedef _Scalar Scalar;
-  typedef Matrix<Scalar,3,3> Matrix3;
-  typedef Matrix<Scalar,3,1> Vector3;
-  typedef Quaternion<Scalar> QuaternionType;
-
-protected:
-
-  Vector3 m_axis;
-  Scalar m_angle;
-
-public:
-
-  /** Default constructor without initialization. */
-  AngleAxis() {}
-  /** Constructs and initialize the angle-axis rotation from an \a angle in radian
-    * and an \a axis which \b must \b be \b normalized.
-    *
-    * \warning If the \a axis vector is not normalized, then the angle-axis object
-    *          represents an invalid rotation. */
-  template<typename Derived>
-  inline AngleAxis(const Scalar& angle, const MatrixBase<Derived>& axis) : m_axis(axis), m_angle(angle) {}
-  /** Constructs and initialize the angle-axis rotation from a quaternion \a q.
-    * This function implicitly normalizes the quaternion \a q.
-    */
-  template<typename QuatDerived> inline explicit AngleAxis(const QuaternionBase<QuatDerived>& q) { *this = q; }
-  /** Constructs and initialize the angle-axis rotation from a 3x3 rotation matrix. */
-  template<typename Derived>
-  inline explicit AngleAxis(const MatrixBase<Derived>& m) { *this = m; }
-
-  Scalar angle() const { return m_angle; }
-  Scalar& angle() { return m_angle; }
-
-  const Vector3& axis() const { return m_axis; }
-  Vector3& axis() { return m_axis; }
-
-  /** Concatenates two rotations */
-  inline QuaternionType operator* (const AngleAxis& other) const
-  { return QuaternionType(*this) * QuaternionType(other); }
-
-  /** Concatenates two rotations */
-  inline QuaternionType operator* (const QuaternionType& other) const
-  { return QuaternionType(*this) * other; }
-
-  /** Concatenates two rotations */
-  friend inline QuaternionType operator* (const QuaternionType& a, const AngleAxis& b)
-  { return a * QuaternionType(b); }
-
-  /** \returns the inverse rotation, i.e., an angle-axis with opposite rotation angle */
-  AngleAxis inverse() const
-  { return AngleAxis(-m_angle, m_axis); }
-
-  template<class QuatDerived>
-  AngleAxis& operator=(const QuaternionBase<QuatDerived>& q);
-  template<typename Derived>
-  AngleAxis& operator=(const MatrixBase<Derived>& m);
-
-  template<typename Derived>
-  AngleAxis& fromRotationMatrix(const MatrixBase<Derived>& m);
-  Matrix3 toRotationMatrix(void) const;
-
-  /** \returns \c *this with scalar type casted to \a NewScalarType
-    *
-    * Note that if \a NewScalarType is equal to the current scalar type of \c *this
-    * then this function smartly returns a const reference to \c *this.
-    */
-  template<typename NewScalarType>
-  inline typename internal::cast_return_type<AngleAxis,AngleAxis<NewScalarType> >::type cast() const
-  { return typename internal::cast_return_type<AngleAxis,AngleAxis<NewScalarType> >::type(*this); }
-
-  /** Copy constructor with scalar type conversion */
-  template<typename OtherScalarType>
-  inline explicit AngleAxis(const AngleAxis<OtherScalarType>& other)
-  {
-    m_axis = other.axis().template cast<Scalar>();
-    m_angle = Scalar(other.angle());
-  }
-
-  static inline const AngleAxis Identity() { return AngleAxis(0, Vector3::UnitX()); }
-
-  /** \returns \c true if \c *this is approximately equal to \a other, within the precision
-    * determined by \a prec.
-    *
-    * \sa MatrixBase::isApprox() */
-  bool isApprox(const AngleAxis& other, const typename NumTraits<Scalar>::Real& prec = NumTraits<Scalar>::dummy_precision()) const
-  { return m_axis.isApprox(other.m_axis, prec) && internal::isApprox(m_angle,other.m_angle, prec); }
-};
-
-/** \ingroup Geometry_Module
-  * single precision angle-axis type */
-typedef AngleAxis<float> AngleAxisf;
-/** \ingroup Geometry_Module
-  * double precision angle-axis type */
-typedef AngleAxis<double> AngleAxisd;
-
-/** Set \c *this from a \b unit quaternion.
-  * The resulting axis is normalized.
-  * 
-  * This function implicitly normalizes the quaternion \a q.
-  */
-template<typename Scalar>
-template<typename QuatDerived>
-AngleAxis<Scalar>& AngleAxis<Scalar>::operator=(const QuaternionBase<QuatDerived>& q)
-{
-  using std::atan2;
-  Scalar n = q.vec().norm();
-  if(n<NumTraits<Scalar>::epsilon())
-    n = q.vec().stableNorm();
-  if (n > Scalar(0))
-  {
-    m_angle = Scalar(2)*atan2(n, q.w());
-    m_axis  = q.vec() / n;
-  }
-  else
-  {
-    m_angle = 0;
-    m_axis << 1, 0, 0;
-  }
-  return *this;
-}
-
-/** Set \c *this from a 3x3 rotation matrix \a mat.
-  */
-template<typename Scalar>
-template<typename Derived>
-AngleAxis<Scalar>& AngleAxis<Scalar>::operator=(const MatrixBase<Derived>& mat)
-{
-  // Since a direct conversion would not be really faster,
-  // let's use the robust Quaternion implementation:
-  return *this = QuaternionType(mat);
-}
-
-/**
-* \brief Sets \c *this from a 3x3 rotation matrix.
-**/
-template<typename Scalar>
-template<typename Derived>
-AngleAxis<Scalar>& AngleAxis<Scalar>::fromRotationMatrix(const MatrixBase<Derived>& mat)
-{
-  return *this = QuaternionType(mat);
-}
-
-/** Constructs and \returns an equivalent 3x3 rotation matrix.
-  */
-template<typename Scalar>
-typename AngleAxis<Scalar>::Matrix3
-AngleAxis<Scalar>::toRotationMatrix(void) const
-{
-  using std::sin;
-  using std::cos;
-  Matrix3 res;
-  Vector3 sin_axis  = sin(m_angle) * m_axis;
-  Scalar c = cos(m_angle);
-  Vector3 cos1_axis = (Scalar(1)-c) * m_axis;
-
-  Scalar tmp;
-  tmp = cos1_axis.x() * m_axis.y();
-  res.coeffRef(0,1) = tmp - sin_axis.z();
-  res.coeffRef(1,0) = tmp + sin_axis.z();
-
-  tmp = cos1_axis.x() * m_axis.z();
-  res.coeffRef(0,2) = tmp + sin_axis.y();
-  res.coeffRef(2,0) = tmp - sin_axis.y();
-
-  tmp = cos1_axis.y() * m_axis.z();
-  res.coeffRef(1,2) = tmp - sin_axis.x();
-  res.coeffRef(2,1) = tmp + sin_axis.x();
-
-  res.diagonal() = (cos1_axis.cwiseProduct(m_axis)).array() + c;
-
-  return res;
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_ANGLEAXIS_H