Avoid NaNs in Rotation::get_angle#552
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…put sligthly out of range.
In retrospect I would have preferred to call it get_axis() but it's not worth a breaking change.
nicoburns
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Mar 17, 2026
nicoburns
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Mar 17, 2026
| // = R' * T'' | ||
| // | ||
| // (R2^-1 * T2 * R2^) = T' = T2 rotated by R2 | ||
| // (R2^-1 * T1 * R2) = T' = T2 rotated by R2 |
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My approval of this change is a rubber stamp. The rest actually makes sense to me.
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Also fix a few typos.