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[Bruno Chareyre <bruno.chareyre@xxxxxxxxxxx>]

> Question sent to Eigen forum 
> (http://forum.kde.org/viewtopic.php?f=74&t=91129).

Quoting the Eigen guy's answer below. What do you think?

/
"I've enabled auto-normalization for this function.

For the record, it is line 179 in src/Geometry/AngleAxis.h:

m_angle = Scalar(2)*std::acos(q.w()/internal::sqrt(n2+q.w()*q.w()));"/