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Sameer Agarwal 21d6a99fe6 Fix AngleAxisToRotationMatrix near zero. 
The Taylor series approximation had its sign flipped and the
tests did not catch it since we were switching exactly at zero,
which was not getting triggered.

This changes modifies the tolerance, adds a test that triggers
and fixes the bug.

Thanks to Michael Samples for reporting this.

Change-Id: I6f92f6348e5d4421ffe194fba92c04285449484c
2013-10-25 13:53:52 -07:00
..
ceres
Fix AngleAxisToRotationMatrix near zero.
2013-10-25 13:53:52 -07:00