cleanup math tools
we should collect the points needing clean-up:
- use
Eigen::Ref
http://eigen.tuxfamily.org/dox/classEigen_1_1Ref.html - provide function overloads returning their result as value / as output parameter (see: #23)
- use
Eigen::Quaternion
- offer
eigen3f
functions if there only is rotation used (e.g.:eigen3f2rpy
,rpy2eigen3f
) - offer
double
variants (e.g.:eigendf2rpy
,rpy2eigen3d
)