Contributor

Contributor

nit: For averaging the unit vectors, you could consider removing the template and moving the implementation to the cc file by taking a MatrixXd or vector of VectorXd.

Contributor Author

cr.

Done: 7446a0a. PTAL : )

I m not sure if this is the best way since this will incur copying at AverageDirections. Let me know if we want to revert this change.

Contributor

LGTM. Now that we have a matrix and if we also take the weights as an eigen vector, we could probably rewrite the for loops with pure Eigen expressions.

Contributor Author

LGTM. Now that we have a matrix and if we also take the weights as an eigen vector, we could probably rewrite the for loops with pure Eigen expressions.

Nice idea! This is done: f0817c4