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math Directory Reference

## Files

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