Update .travis.yml
Rename M_PI and to DART_PI (and other similar cases), add Log() for Isometry3d and Matrix3d.
Remove xformHom and xformHomDir that take Eigen::Matrix4d because we use Eigen::Isometry3d instead of Eigen::Matrix4d to represent transformation.
Use Eigen::Isometry3d::inverse() instead of dart::math::Inv(). Eigen::Isometry3d::inverse() perform as much as dart::math::Inv(). See: http://forum.kde.org/viewtopic.php?f=74&t=108512
Clean up euler-angles related part of math.
Clean up euler-angles related part of math. (reverted from commit fe580ac88e056b34b2b1273ffc63ba055ea0ee72)
fixed the bug in SimWindow.cpp
Remove dart::math::Rotate(). Use Eigen::Isometry3d::linear() instead of it.
Remove unused lines in Geometry.h/cpp
Add some defines to MathTypes.h
Remove xformHom and xformHomDir functions that take Eigen::Isometry3d since they reimplement Eigen functionality. Calls to xformHom(W, v) should be replaced by W * v. Calls to xformHomDir(W, v) should be replaced by W.linear() * v.
Clean up matrixToEuler* series
Add euler***ToMatrix() functions.
Fix matrixToEuler*** functions.
Use Eigen::Isometry3d::linear() instead of Eigen::Isometry3d::rotation().
Remove unused lines in BodyNode.cpp
Use Eigen::Translation3d(...) and Eigen::Isometry3d::translation().
Rename and cleanup for exponential map and log map.
Relace math::ExpLinear() with Eigen::Translation3d() that has same functionality.
Remove ExpAngular(const Axis& s, double t) and add comment on expAngular(const Eigen::Vector3d& s).