edrosten/TooN — pull request #5 by aharrison24 (2014-10-28 14:52:27+00:00)
Title: Fix intermediate rotations in SO3 constructor

- This applies to the SO3 constructor that takes two vectors ‘a’ and ‘b’
as arguments and computes the rotation matrix that brings vector ‘a’
into the direction of vector ‘b’.
- Previously the intermediate rotation matrices used to compute the
final result were not valid elements of SO3, since they had
negative determinants.
- This fix does not alter the final result of the function, but it does
ensure that the intermediate results are valid rotation matrices.