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15 MatrixXf::Index index;
23 U(0,0) = 1+R(0,0)+R(1,1)+R(2,2);
24 U(0,1) = R(2,1)-R(1,2);
25 U(0,2) = R(0,2)-R(2,0);
26 U(0,3) = R(1,0)-R(0,1);
29 U(1,1) = 1+R(0,0)-R(1,1)-R(2,2);
30 U(1,2) = R(0,1)+R(1,0);
31 U(1,3) = R(2,0)+R(0,2);
35 U(2,2) = 1-R(0,0)+R(1,1)-R(2,2);
36 U(2,3) = R(1,2)+R(2,1);
41 U(3,3) = 1-R(0,0)-R(1,1)+R(2,2);
47 U2=(U.array()*U.array());
58 q1 = sign(U.row(index).dot(U.row(0)))*U.row(0);
59 q2 = sign(U.row(index).dot(U.row(1)))*U.row(1);
60 q3 = sign(U.row(index).dot(U.row(2)))*U.row(2);
61 q4 = sign(U.row(index).dot(U.row(3)))*U.row(3);
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