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Make Transform::computeRotationScaling(0,&S) continuous

Essex Edwards requested to merge essex.edwards/eigen:feature/computeRotationScaling_continuously into master

In short, Transform::computeRotationScaling could produce a scaling matrix that is a continuous function of the transform, but it does not. It seems like it would be better if it did and it's easy to make it do so. So here's the code to do that.

See: Issue 2099

Edited by Essex Edwards

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