temp step1: dot(a,a) to norm(a)^2
normalize ready to recive a matrix
calculate_error ready to recive matrix
matrix_update and euler_angles ready to recive matrixes
dcm switched to matrix
something curiuos about normalize :)
minor refactroing
sorry, forgot one matrix
Merge pull request #25 from yashunsky/wp/refactoring/renorm

Wp/refactoring/renorm