Make SO3<Scalar>::cast<Scalar>() a noop

strasdat / Sophus

C++ implementation of Lie Groups using Eigen.

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Make SO3<Scalar>::cast<Scalar>() a noop #526

Closed Dvad closed 5 months ago

Dvad commented 1 year ago

this saves a useless normalization operation. Also this removes spurious changes of numerical behavior when one adapt a codebase to be compatible with both double and float from only one of them. This helps for instance in automatic noop testing on continuous integration system.

strasdat commented 5 months ago

thanks!