Question sent to Eigen forum (http://forum.kde.org/viewtopic.php?f=74&t=91129).
Quoting the Eigen guy's answer below. What do you think? / "I've enabled auto-normalization for this function. For the record, it is line 179 in src/Geometry/AngleAxis.h: m_angle = Scalar(2)*std::acos(q.w()/internal::sqrt(n2+q.w()*q.w()));"/
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