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| arun.hpp |
| Arun's method for computing the rotation between two point sets.
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| cayley.hpp |
| Functions for back-and-forth transformation between rotation matrices and Cayley-parameters.
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| gauss_jordan.hpp |
| Sparse, fast Gauss Jordan elimination.
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| quaternion.hpp |
| Functions for back-and-forth transformation between rotation matrices and quaternion-parameters.
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| roots.hpp |
| Closed-form solutions for computing the roots of a polynomial.
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| Sturm.hpp |
| Class for evaluating Sturm chains on polynomials, and bracketing the real roots.
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