PeteBlackerThe3rd

#include <Eigen/SVD>

/// Method to find the average of a set of rotation quaternions using Singular Value Decomposition
/*
 * The algorithm used is described here:
 * https://ntrs.nasa.gov/archive/nasa/casi.ntrs.nasa.gov/20070017872.pdf
 */
Eigen::Vector4f quaternionAverage(std::vector<Eigen::Vector4f> quaternions)
{
	if (quaternions.size() == 0)

PeteBlackerThe3rd

#include <iostream>

bool getline_async(std::istream& is, std::string& str, char delim = '\n') {

    static std::string lineSoFar;
    char inChar;
    int charsRead = 0;
    bool lineRead = false;
    str = "";