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fix rotation matrix construction in column-major order #167

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fix rotation matrix construction in column-major order #167

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@christian-rauch christian-rauch commented Dec 3, 2025 •
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The function rotationMatrixToQuaternion incorrectly assumes and states that Eigen::Matrix3f is row-major, while the Eigen documentation is explicit about this:

If the storage order is not specified, then Eigen defaults to storing the entry in column-major. This is also the case if one of the convenience typedefs (Matrix3f, ArrayXXd, etc.) is used.

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