@smake/eigen 1.1.0 → 1.1.1

package/eigen/Eigen/src/Geometry/Quaternion.h

@@ -10,30 +10,29 @@
 
 #ifndef EIGEN_QUATERNION_H
 #define EIGEN_QUATERNION_H
-namespace Eigen { 
+// IWYU pragma: private
+#include "./InternalHeaderCheck.h"
 
+namespace Eigen {
 
 /***************************************************************************
-* Definition of QuaternionBase<Derived>
-* The implementation is at the end of the file
-***************************************************************************/
+ * Definition of QuaternionBase<Derived>
+ * The implementation is at the end of the file
+ ***************************************************************************/
 
 namespace internal {
-template<typename Other,
-         int OtherRows=Other::RowsAtCompileTime,
-         int OtherCols=Other::ColsAtCompileTime>
+template <typename Other, int OtherRows = Other::RowsAtCompileTime, int OtherCols = Other::ColsAtCompileTime>
 struct quaternionbase_assign_impl;
 }
 
 /** \geometry_module \ingroup Geometry_Module
-  * \class QuaternionBase
-  * \brief Base class for quaternion expressions
-  * \tparam Derived derived type (CRTP)
-  * \sa class Quaternion
-  */
-template<class Derived>
-class QuaternionBase : public RotationBase<Derived, 3>
-{
+ * \class QuaternionBase
+ * \brief Base class for quaternion expressions
+ * \tparam Derived derived type (CRTP)
+ * \sa class Quaternion
+ */
+template <class Derived>
+class QuaternionBase : public RotationBase<Derived, 3> {
  public:
   typedef RotationBase<Derived, 3> Base;
 
@@ -44,111 +43,144 @@ class QuaternionBase : public RotationBase<Derived, 3>
   typedef typename NumTraits<Scalar>::Real RealScalar;
   typedef typename internal::traits<Derived>::Coefficients Coefficients;
   typedef typename Coefficients::CoeffReturnType CoeffReturnType;
-  typedef typename internal::conditional<bool(internal::traits<Derived>::Flags&LvalueBit),
-                                        Scalar&, CoeffReturnType>::type NonConstCoeffReturnType;
-
+  typedef std::conditional_t<bool(internal::traits<Derived>::Flags& LvalueBit), Scalar&, CoeffReturnType>
+      NonConstCoeffReturnType;
 
-  enum {
-    Flags = Eigen::internal::traits<Derived>::Flags
-  };
+  enum { Flags = Eigen::internal::traits<Derived>::Flags };
 
- // typedef typename Matrix<Scalar,4,1> Coefficients;
+  // typedef typename Matrix<Scalar,4,1> Coefficients;
   /** the type of a 3D vector */
-  typedef Matrix<Scalar,3,1> Vector3;
+  typedef Matrix<Scalar, 3, 1> Vector3;
   /** the equivalent rotation matrix type */
-  typedef Matrix<Scalar,3,3> Matrix3;
+  typedef Matrix<Scalar, 3, 3> Matrix3;
   /** the equivalent angle-axis type */
   typedef AngleAxis<Scalar> AngleAxisType;
 
-
-
   /** \returns the \c x coefficient */
-  EIGEN_DEVICE_FUNC inline CoeffReturnType x() const { return this->derived().coeffs().coeff(0); }
+  EIGEN_DEVICE_FUNC constexpr CoeffReturnType x() const { return this->derived().coeffs().coeff(0); }
   /** \returns the \c y coefficient */
-  EIGEN_DEVICE_FUNC inline CoeffReturnType y() const { return this->derived().coeffs().coeff(1); }
+  EIGEN_DEVICE_FUNC constexpr CoeffReturnType y() const { return this->derived().coeffs().coeff(1); }
   /** \returns the \c z coefficient */
-  EIGEN_DEVICE_FUNC inline CoeffReturnType z() const { return this->derived().coeffs().coeff(2); }
+  EIGEN_DEVICE_FUNC constexpr CoeffReturnType z() const { return this->derived().coeffs().coeff(2); }
   /** \returns the \c w coefficient */
-  EIGEN_DEVICE_FUNC inline CoeffReturnType w() const { return this->derived().coeffs().coeff(3); }
+  EIGEN_DEVICE_FUNC constexpr CoeffReturnType w() const { return this->derived().coeffs().coeff(3); }
 
   /** \returns a reference to the \c x coefficient (if Derived is a non-const lvalue) */
-  EIGEN_DEVICE_FUNC inline NonConstCoeffReturnType x() { return this->derived().coeffs().x(); }
+  EIGEN_DEVICE_FUNC constexpr NonConstCoeffReturnType x() { return this->derived().coeffs().x(); }
   /** \returns a reference to the \c y coefficient (if Derived is a non-const lvalue) */
-  EIGEN_DEVICE_FUNC inline NonConstCoeffReturnType y() { return this->derived().coeffs().y(); }
+  EIGEN_DEVICE_FUNC constexpr NonConstCoeffReturnType y() { return this->derived().coeffs().y(); }
   /** \returns a reference to the \c z coefficient (if Derived is a non-const lvalue) */
-  EIGEN_DEVICE_FUNC inline NonConstCoeffReturnType z() { return this->derived().coeffs().z(); }
+  EIGEN_DEVICE_FUNC constexpr NonConstCoeffReturnType z() { return this->derived().coeffs().z(); }
   /** \returns a reference to the \c w coefficient (if Derived is a non-const lvalue) */
-  EIGEN_DEVICE_FUNC inline NonConstCoeffReturnType w() { return this->derived().coeffs().w(); }
+  EIGEN_DEVICE_FUNC constexpr NonConstCoeffReturnType w() { return this->derived().coeffs().w(); }
 
   /** \returns a read-only vector expression of the imaginary part (x,y,z) */
-  EIGEN_DEVICE_FUNC inline const VectorBlock<const Coefficients,3> vec() const { return coeffs().template head<3>(); }
+  EIGEN_DEVICE_FUNC inline const VectorBlock<const Coefficients, 3> vec() const { return coeffs().template head<3>(); }
 
   /** \returns a vector expression of the imaginary part (x,y,z) */
-  EIGEN_DEVICE_FUNC inline VectorBlock<Coefficients,3> vec() { return coeffs().template head<3>(); }
+  EIGEN_DEVICE_FUNC inline VectorBlock<Coefficients, 3> vec() { return coeffs().template head<3>(); }
 
   /** \returns a read-only vector expression of the coefficients (x,y,z,w) */
-  EIGEN_DEVICE_FUNC inline const typename internal::traits<Derived>::Coefficients& coeffs() const { return derived().coeffs(); }
+  EIGEN_DEVICE_FUNC inline const typename internal::traits<Derived>::Coefficients& coeffs() const {
+    return derived().coeffs();
+  }
+
+  /** \returns a vector containing the coefficients, rearranged into the order [\c w, \c x, \c y, \c z].
+   *
+   * This is the order expected by the \code Quaternion(const Scalar& w, const Scalar& x, const Scalar& y, const Scalar&
+   * z) \endcode constructor, but not the order of the internal vector representation. Therefore, it returns a newly
+   * constructed vector.
+   *
+   * \sa QuaternionBase::coeffsScalarLast()
+   * */
+  EIGEN_DEVICE_FUNC inline typename internal::traits<Derived>::Coefficients coeffsScalarFirst() const {
+    return derived().coeffsScalarFirst();
+  }
+
+  /** \returns a vector containing the coefficients in their original order [\c x, \c y, \c z, \c w].
+   *
+   * This is equivalent to \code coeffs() \endcode, but returns a newly constructed vector for uniformity with \code
+   * coeffsScalarFirst() \endcode.
+   *
+   * \sa QuaternionBase::coeffsScalarFirst()
+   * */
+  EIGEN_DEVICE_FUNC inline typename internal::traits<Derived>::Coefficients coeffsScalarLast() const {
+    return derived().coeffsScalarLast();
+  }
 
   /** \returns a vector expression of the coefficients (x,y,z,w) */
   EIGEN_DEVICE_FUNC inline typename internal::traits<Derived>::Coefficients& coeffs() { return derived().coeffs(); }
 
   EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE QuaternionBase<Derived>& operator=(const QuaternionBase<Derived>& other);
-  template<class OtherDerived> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& operator=(const QuaternionBase<OtherDerived>& other);
+  template <class OtherDerived>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& operator=(const QuaternionBase<OtherDerived>& other);
 
-// disabled this copy operator as it is giving very strange compilation errors when compiling
-// test_stdvector with GCC 4.4.2. This looks like a GCC bug though, so feel free to re-enable it if it's
-// useful; however notice that we already have the templated operator= above and e.g. in MatrixBase
-// we didn't have to add, in addition to templated operator=, such a non-templated copy operator.
-//  Derived& operator=(const QuaternionBase& other)
-//  { return operator=<Derived>(other); }
+  // disabled this copy operator as it is giving very strange compilation errors when compiling
+  // test_stdvector with GCC 4.4.2. This looks like a GCC bug though, so feel free to re-enable it if it's
+  // useful; however notice that we already have the templated operator= above and e.g. in MatrixBase
+  // we didn't have to add, in addition to templated operator=, such a non-templated copy operator.
+  //  Derived& operator=(const QuaternionBase& other)
+  //  { return operator=<Derived>(other); }
 
   EIGEN_DEVICE_FUNC Derived& operator=(const AngleAxisType& aa);
-  template<class OtherDerived> EIGEN_DEVICE_FUNC Derived& operator=(const MatrixBase<OtherDerived>& m);
+  template <class OtherDerived>
+  EIGEN_DEVICE_FUNC Derived& operator=(const MatrixBase<OtherDerived>& m);
 
   /** \returns a quaternion representing an identity rotation
-    * \sa MatrixBase::Identity()
-    */
-  EIGEN_DEVICE_FUNC static inline Quaternion<Scalar> Identity() { return Quaternion<Scalar>(Scalar(1), Scalar(0), Scalar(0), Scalar(0)); }
+   * \sa MatrixBase::Identity()
+   */
+  EIGEN_DEVICE_FUNC static inline Quaternion<Scalar> Identity() {
+    return Quaternion<Scalar>(Scalar(1), Scalar(0), Scalar(0), Scalar(0));
+  }
 
   /** \sa QuaternionBase::Identity(), MatrixBase::setIdentity()
-    */
-  EIGEN_DEVICE_FUNC inline QuaternionBase& setIdentity() { coeffs() << Scalar(0), Scalar(0), Scalar(0), Scalar(1); return *this; }
+   */
+  EIGEN_DEVICE_FUNC inline QuaternionBase& setIdentity() {
+    coeffs() << Scalar(0), Scalar(0), Scalar(0), Scalar(1);
+    return *this;
+  }
 
   /** \returns the squared norm of the quaternion's coefficients
-    * \sa QuaternionBase::norm(), MatrixBase::squaredNorm()
-    */
+   * \sa QuaternionBase::norm(), MatrixBase::squaredNorm()
+   */
   EIGEN_DEVICE_FUNC inline Scalar squaredNorm() const { return coeffs().squaredNorm(); }
 
   /** \returns the norm of the quaternion's coefficients
-    * \sa QuaternionBase::squaredNorm(), MatrixBase::norm()
-    */
+   * \sa QuaternionBase::squaredNorm(), MatrixBase::norm()
+   */
   EIGEN_DEVICE_FUNC inline Scalar norm() const { return coeffs().norm(); }
 
   /** Normalizes the quaternion \c *this
-    * \sa normalized(), MatrixBase::normalize() */
+   * \sa normalized(), MatrixBase::normalize() */
   EIGEN_DEVICE_FUNC inline void normalize() { coeffs().normalize(); }
   /** \returns a normalized copy of \c *this
-    * \sa normalize(), MatrixBase::normalized() */
+   * \sa normalize(), MatrixBase::normalized() */
   EIGEN_DEVICE_FUNC inline Quaternion<Scalar> normalized() const { return Quaternion<Scalar>(coeffs().normalized()); }
 
-    /** \returns the dot product of \c *this and \a other
-    * Geometrically speaking, the dot product of two unit quaternions
-    * corresponds to the cosine of half the angle between the two rotations.
-    * \sa angularDistance()
-    */
-  template<class OtherDerived> EIGEN_DEVICE_FUNC inline Scalar dot(const QuaternionBase<OtherDerived>& other) const { return coeffs().dot(other.coeffs()); }
+  /** \returns the dot product of \c *this and \a other
+   * Geometrically speaking, the dot product of two unit quaternions
+   * corresponds to the cosine of half the angle between the two rotations.
+   * \sa angularDistance()
+   */
+  template <class OtherDerived>
+  EIGEN_DEVICE_FUNC inline Scalar dot(const QuaternionBase<OtherDerived>& other) const {
+    return coeffs().dot(other.coeffs());
+  }
 
-  template<class OtherDerived> EIGEN_DEVICE_FUNC Scalar angularDistance(const QuaternionBase<OtherDerived>& other) const;
+  template <class OtherDerived>
+  EIGEN_DEVICE_FUNC Scalar angularDistance(const QuaternionBase<OtherDerived>& other) const;
 
   /** \returns an equivalent 3x3 rotation matrix */
   EIGEN_DEVICE_FUNC inline Matrix3 toRotationMatrix() const;
 
   /** \returns the quaternion which transform \a a into \a b through a rotation */
-  template<typename Derived1, typename Derived2>
+  template <typename Derived1, typename Derived2>
   EIGEN_DEVICE_FUNC Derived& setFromTwoVectors(const MatrixBase<Derived1>& a, const MatrixBase<Derived2>& b);
 
-  template<class OtherDerived> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Quaternion<Scalar> operator* (const QuaternionBase<OtherDerived>& q) const;
-  template<class OtherDerived> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& operator*= (const QuaternionBase<OtherDerived>& q);
+  template <class OtherDerived>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Quaternion<Scalar> operator*(const QuaternionBase<OtherDerived>& q) const;
+  template <class OtherDerived>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& operator*=(const QuaternionBase<OtherDerived>& q);
 
   /** \returns the quaternion describing the inverse rotation */
   EIGEN_DEVICE_FUNC Quaternion<Scalar> inverse() const;
@@ -156,127 +188,129 @@ class QuaternionBase : public RotationBase<Derived, 3>
   /** \returns the conjugated quaternion */
   EIGEN_DEVICE_FUNC Quaternion<Scalar> conjugate() const;
 
-  template<class OtherDerived> EIGEN_DEVICE_FUNC Quaternion<Scalar> slerp(const Scalar& t, const QuaternionBase<OtherDerived>& other) const;
+  template <class OtherDerived>
+  EIGEN_DEVICE_FUNC Quaternion<Scalar> slerp(const Scalar& t, const QuaternionBase<OtherDerived>& other) const;
 
   /** \returns true if each coefficients of \c *this and \a other are all exactly equal.
-    * \warning When using floating point scalar values you probably should rather use a
-    *          fuzzy comparison such as isApprox()
-    * \sa isApprox(), operator!= */
-  template<class OtherDerived>
-  EIGEN_DEVICE_FUNC inline bool operator==(const QuaternionBase<OtherDerived>& other) const
-  { return coeffs() == other.coeffs(); }
+   * \warning When using floating point scalar values you probably should rather use a
+   *          fuzzy comparison such as isApprox()
+   * \sa isApprox(), operator!= */
+  template <class OtherDerived>
+  EIGEN_DEVICE_FUNC inline bool operator==(const QuaternionBase<OtherDerived>& other) const {
+    return coeffs() == other.coeffs();
+  }
 
   /** \returns true if at least one pair of coefficients of \c *this and \a other are not exactly equal to each other.
-    * \warning When using floating point scalar values you probably should rather use a
-    *          fuzzy comparison such as isApprox()
-    * \sa isApprox(), operator== */
-  template<class OtherDerived>
-  EIGEN_DEVICE_FUNC inline bool operator!=(const QuaternionBase<OtherDerived>& other) const
-  { return coeffs() != other.coeffs(); }
+   * \warning When using floating point scalar values you probably should rather use a
+   *          fuzzy comparison such as isApprox()
+   * \sa isApprox(), operator== */
+  template <class OtherDerived>
+  EIGEN_DEVICE_FUNC inline bool operator!=(const QuaternionBase<OtherDerived>& other) const {
+    return coeffs() != other.coeffs();
+  }
 
   /** \returns \c true if \c *this is approximately equal to \a other, within the precision
-    * determined by \a prec.
-    *
-    * \sa MatrixBase::isApprox() */
-  template<class OtherDerived>
-  EIGEN_DEVICE_FUNC bool isApprox(const QuaternionBase<OtherDerived>& other, const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const
-  { return coeffs().isApprox(other.coeffs(), prec); }
+   * determined by \a prec.
+   *
+   * \sa MatrixBase::isApprox() */
+  template <class OtherDerived>
+  EIGEN_DEVICE_FUNC bool isApprox(const QuaternionBase<OtherDerived>& other,
+                                  const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const {
+    return coeffs().isApprox(other.coeffs(), prec);
+  }
 
   /** return the result vector of \a v through the rotation*/
   EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Vector3 _transformVector(const Vector3& v) const;
 
-  #ifdef EIGEN_PARSED_BY_DOXYGEN
+#ifdef EIGEN_PARSED_BY_DOXYGEN
   /** \returns \c *this with scalar type casted to \a NewScalarType
-    *
-    * Note that if \a NewScalarType is equal to the current scalar type of \c *this
-    * then this function smartly returns a const reference to \c *this.
-    */
-  template<typename NewScalarType>
-  EIGEN_DEVICE_FUNC inline typename internal::cast_return_type<Derived,Quaternion<NewScalarType> >::type cast() const;
-
-  #else
-
-  template<typename NewScalarType>
-  EIGEN_DEVICE_FUNC inline
-  typename internal::enable_if<internal::is_same<Scalar,NewScalarType>::value,const Derived&>::type cast() const
-  {
+   *
+   * Note that if \a NewScalarType is equal to the current scalar type of \c *this
+   * then this function smartly returns a const reference to \c *this.
+   */
+  template <typename NewScalarType>
+  EIGEN_DEVICE_FUNC inline typename internal::cast_return_type<Derived, Quaternion<NewScalarType> >::type cast() const;
+
+#else
+
+  template <typename NewScalarType>
+  EIGEN_DEVICE_FUNC inline std::enable_if_t<internal::is_same<Scalar, NewScalarType>::value, const Derived&> cast()
+      const {
     return derived();
   }
 
-  template<typename NewScalarType>
-  EIGEN_DEVICE_FUNC inline
-  typename internal::enable_if<!internal::is_same<Scalar,NewScalarType>::value,Quaternion<NewScalarType> >::type cast() const
-  {
+  template <typename NewScalarType>
+  EIGEN_DEVICE_FUNC inline std::enable_if_t<!internal::is_same<Scalar, NewScalarType>::value,
+                                            Quaternion<NewScalarType> >
+  cast() const {
     return Quaternion<NewScalarType>(coeffs().template cast<NewScalarType>());
   }
-  #endif
+#endif
 
 #ifndef EIGEN_NO_IO
   friend std::ostream& operator<<(std::ostream& s, const QuaternionBase<Derived>& q) {
-    s << q.x() << "i + " << q.y() << "j + " << q.z() << "k" << " + " << q.w();
+    s << q.x() << "i + " << q.y() << "j + " << q.z() << "k"
+      << " + " << q.w();
     return s;
   }
 #endif
 
 #ifdef EIGEN_QUATERNIONBASE_PLUGIN
-# include EIGEN_QUATERNIONBASE_PLUGIN
+#include EIGEN_QUATERNIONBASE_PLUGIN
 #endif
-protected:
+ protected:
   EIGEN_DEFAULT_COPY_CONSTRUCTOR(QuaternionBase)
   EIGEN_DEFAULT_EMPTY_CONSTRUCTOR_AND_DESTRUCTOR(QuaternionBase)
 };
 
 /***************************************************************************
-* Definition/implementation of Quaternion<Scalar>
-***************************************************************************/
+ * Definition/implementation of Quaternion<Scalar>
+ ***************************************************************************/
 
 /** \geometry_module \ingroup Geometry_Module
-  *
-  * \class Quaternion
-  *
-  * \brief The quaternion class used to represent 3D orientations and rotations
-  *
-  * \tparam _Scalar the scalar type, i.e., the type of the coefficients
-  * \tparam _Options controls the memory alignment of the coefficients. Can be \# AutoAlign or \# DontAlign. Default is AutoAlign.
-  *
-  * This class represents a quaternion \f$ w+xi+yj+zk \f$ that is a convenient representation of
-  * orientations and rotations of objects in three dimensions. Compared to other representations
-  * like Euler angles or 3x3 matrices, quaternions offer the following advantages:
-  * \li \b compact storage (4 scalars)
-  * \li \b efficient to compose (28 flops),
-  * \li \b stable spherical interpolation
-  *
-  * The following two typedefs are provided for convenience:
-  * \li \c Quaternionf for \c float
-  * \li \c Quaterniond for \c double
-  *
-  * \warning Operations interpreting the quaternion as rotation have undefined behavior if the quaternion is not normalized.
-  *
-  * \sa  class AngleAxis, class Transform
-  */
+ *
+ * \class Quaternion
+ *
+ * \brief The quaternion class used to represent 3D orientations and rotations
+ *
+ * \tparam Scalar_ the scalar type, i.e., the type of the coefficients
+ * \tparam Options_ controls the memory alignment of the coefficients. Can be \# AutoAlign or \# DontAlign. Default is
+ * AutoAlign.
+ *
+ * This class represents a quaternion \f$ w+xi+yj+zk \f$ that is a convenient representation of
+ * orientations and rotations of objects in three dimensions. Compared to other representations
+ * like Euler angles or 3x3 matrices, quaternions offer the following advantages:
+ * \li \b compact storage (4 scalars)
+ * \li \b efficient to compose (28 flops),
+ * \li \b stable spherical interpolation
+ *
+ * The following two typedefs are provided for convenience:
+ * \li \c Quaternionf for \c float
+ * \li \c Quaterniond for \c double
+ *
+ * \warning Operations interpreting the quaternion as rotation have undefined behavior if the quaternion is not
+ * normalized.
+ *
+ * \sa  class AngleAxis, class Transform
+ */
 
 namespace internal {
-template<typename _Scalar,int _Options>
-struct traits<Quaternion<_Scalar,_Options> >
-{
-  typedef Quaternion<_Scalar,_Options> PlainObject;
-  typedef _Scalar Scalar;
-  typedef Matrix<_Scalar,4,1,_Options> Coefficients;
-  enum{
-    Alignment = internal::traits<Coefficients>::Alignment,
-    Flags = LvalueBit
-  };
+template <typename Scalar_, int Options_>
+struct traits<Quaternion<Scalar_, Options_> > {
+  typedef Quaternion<Scalar_, Options_> PlainObject;
+  typedef Scalar_ Scalar;
+  typedef Matrix<Scalar_, 4, 1, Options_> Coefficients;
+  enum { Alignment = internal::traits<Coefficients>::Alignment, Flags = LvalueBit };
 };
-}
+}  // namespace internal
 
-template<typename _Scalar, int _Options>
-class Quaternion : public QuaternionBase<Quaternion<_Scalar,_Options> >
-{
-public:
-  typedef QuaternionBase<Quaternion<_Scalar,_Options> > Base;
-  enum { NeedsAlignment = internal::traits<Quaternion>::Alignment>0 };
+template <typename Scalar_, int Options_>
+class Quaternion : public QuaternionBase<Quaternion<Scalar_, Options_> > {
+ public:
+  typedef QuaternionBase<Quaternion<Scalar_, Options_> > Base;
+  enum { NeedsAlignment = internal::traits<Quaternion>::Alignment > 0 };
 
-  typedef _Scalar Scalar;
+  typedef Scalar_ Scalar;
 
   EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Quaternion)
   using Base::operator*=;
@@ -288,355 +322,375 @@ public:
   EIGEN_DEVICE_FUNC inline Quaternion() {}
 
   /** Constructs and initializes the quaternion \f$ w+xi+yj+zk \f$ from
-    * its four coefficients \a w, \a x, \a y and \a z.
-    *
-    * \warning Note the order of the arguments: the real \a w coefficient first,
-    * while internally the coefficients are stored in the following order:
-    * [\c x, \c y, \c z, \c w]
-    */
-  EIGEN_DEVICE_FUNC inline Quaternion(const Scalar& w, const Scalar& x, const Scalar& y, const Scalar& z) : m_coeffs(x, y, z, w){}
+   * its four coefficients \a w, \a x, \a y and \a z.
+   *
+   * \warning Note the order of the arguments: the real \a w coefficient first,
+   * while internally the coefficients are stored in the following order:
+   * [\c x, \c y, \c z, \c w]
+   */
+  EIGEN_DEVICE_FUNC inline Quaternion(const Scalar& w, const Scalar& x, const Scalar& y, const Scalar& z)
+      : m_coeffs(x, y, z, w) {}
+
+  /** Constructs and initializes a quaternion from its real part as a scalar,
+   *  and its imaginary part as a 3-vector [\c x, \c y, \c z]
+   */
+  template <typename Derived>
+  EIGEN_DEVICE_FUNC inline Quaternion(const Scalar& w, const Eigen::MatrixBase<Derived>& vec)
+      : m_coeffs(vec.x(), vec.y(), vec.z(), w) {
+    EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Derived, 3);
+  }
 
   /** Constructs and initialize a quaternion from the array data */
   EIGEN_DEVICE_FUNC explicit inline Quaternion(const Scalar* data) : m_coeffs(data) {}
 
   /** Copy constructor */
-  template<class Derived> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Quaternion(const QuaternionBase<Derived>& other) { this->Base::operator=(other); }
+  template <class Derived>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Quaternion(const QuaternionBase<Derived>& other) {
+    this->Base::operator=(other);
+  }
 
   /** Constructs and initializes a quaternion from the angle-axis \a aa */
   EIGEN_DEVICE_FUNC explicit inline Quaternion(const AngleAxisType& aa) { *this = aa; }
 
   /** Constructs and initializes a quaternion from either:
-    *  - a rotation matrix expression,
-    *  - a 4D vector expression representing quaternion coefficients.
-    */
-  template<typename Derived>
-  EIGEN_DEVICE_FUNC explicit inline Quaternion(const MatrixBase<Derived>& other) { *this = other; }
+   *  - a rotation matrix expression,
+   *  - a 4D vector expression representing quaternion coefficients in the order [\c x, \c y, \c z, \c w].
+   */
+  template <typename Derived>
+  EIGEN_DEVICE_FUNC explicit inline Quaternion(const MatrixBase<Derived>& other) {
+    *this = other;
+  }
 
   /** Explicit copy constructor with scalar conversion */
-  template<typename OtherScalar, int OtherOptions>
-  EIGEN_DEVICE_FUNC explicit inline Quaternion(const Quaternion<OtherScalar, OtherOptions>& other)
-  { m_coeffs = other.coeffs().template cast<Scalar>(); }
+  template <typename OtherScalar, int OtherOptions>
+  EIGEN_DEVICE_FUNC explicit inline Quaternion(const Quaternion<OtherScalar, OtherOptions>& other) {
+    m_coeffs = other.coeffs().template cast<Scalar>();
+  }
 
-#if EIGEN_HAS_RVALUE_REFERENCES
   // We define a copy constructor, which means we don't get an implicit move constructor or assignment operator.
   /** Default move constructor */
-  EIGEN_DEVICE_FUNC inline Quaternion(Quaternion&& other) EIGEN_NOEXCEPT_IF(std::is_nothrow_move_constructible<Scalar>::value)
-    : m_coeffs(std::move(other.coeffs()))
-  {}
+  EIGEN_DEVICE_FUNC inline Quaternion(Quaternion&& other) noexcept(std::is_nothrow_move_constructible<Scalar>::value)
+      : m_coeffs(std::move(other.coeffs())) {}
 
   /** Default move assignment operator */
-  EIGEN_DEVICE_FUNC Quaternion& operator=(Quaternion&& other) EIGEN_NOEXCEPT_IF(std::is_nothrow_move_assignable<Scalar>::value)
-  {
+  EIGEN_DEVICE_FUNC Quaternion& operator=(Quaternion&& other) noexcept(std::is_nothrow_move_assignable<Scalar>::value) {
     m_coeffs = std::move(other.coeffs());
     return *this;
   }
-#endif
 
   EIGEN_DEVICE_FUNC static Quaternion UnitRandom();
 
-  template<typename Derived1, typename Derived2>
+  EIGEN_DEVICE_FUNC static Quaternion FromCoeffsScalarLast(const Scalar& x, const Scalar& y, const Scalar& z,
+                                                           const Scalar& w);
+
+  EIGEN_DEVICE_FUNC static Quaternion FromCoeffsScalarFirst(const Scalar& w, const Scalar& x, const Scalar& y,
+                                                            const Scalar& z);
+
+  template <typename Derived1, typename Derived2>
   EIGEN_DEVICE_FUNC static Quaternion FromTwoVectors(const MatrixBase<Derived1>& a, const MatrixBase<Derived2>& b);
 
-  EIGEN_DEVICE_FUNC inline Coefficients& coeffs() { return m_coeffs;}
-  EIGEN_DEVICE_FUNC inline const Coefficients& coeffs() const { return m_coeffs;}
+  EIGEN_DEVICE_FUNC inline Coefficients& coeffs() { return m_coeffs; }
+  EIGEN_DEVICE_FUNC inline const Coefficients& coeffs() const { return m_coeffs; }
+
+  EIGEN_DEVICE_FUNC inline Coefficients coeffsScalarLast() const { return m_coeffs; }
 
+  EIGEN_DEVICE_FUNC inline Coefficients coeffsScalarFirst() const {
+    return {m_coeffs.w(), m_coeffs.x(), m_coeffs.y(), m_coeffs.z()};
+  }
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(bool(NeedsAlignment))
-  
+
 #ifdef EIGEN_QUATERNION_PLUGIN
-# include EIGEN_QUATERNION_PLUGIN
+#include EIGEN_QUATERNION_PLUGIN
 #endif
 
-protected:
+ protected:
   Coefficients m_coeffs;
-  
+
 #ifndef EIGEN_PARSED_BY_DOXYGEN
-    static EIGEN_STRONG_INLINE void _check_template_params()
-    {
-      EIGEN_STATIC_ASSERT( (_Options & DontAlign) == _Options,
-        INVALID_MATRIX_TEMPLATE_PARAMETERS)
-    }
+  EIGEN_STATIC_ASSERT((Options_ & DontAlign) == Options_, INVALID_MATRIX_TEMPLATE_PARAMETERS)
 #endif
 };
 
 /** \ingroup Geometry_Module
-  * single precision quaternion type */
+ * single precision quaternion type */
 typedef Quaternion<float> Quaternionf;
 /** \ingroup Geometry_Module
-  * double precision quaternion type */
+ * double precision quaternion type */
 typedef Quaternion<double> Quaterniond;
 
 /***************************************************************************
-* Specialization of Map<Quaternion<Scalar>>
-***************************************************************************/
+ * Specialization of Map<Quaternion<Scalar>>
+ ***************************************************************************/
 
 namespace internal {
-  template<typename _Scalar, int _Options>
-  struct traits<Map<Quaternion<_Scalar>, _Options> > : traits<Quaternion<_Scalar, (int(_Options)&Aligned)==Aligned ? AutoAlign : DontAlign> >
-  {
-    typedef Map<Matrix<_Scalar,4,1>, _Options> Coefficients;
-  };
-}
+template <typename Scalar_, int Options_>
+struct traits<Map<Quaternion<Scalar_>, Options_> >
+    : traits<Quaternion<Scalar_, (int(Options_) & Aligned) == Aligned ? AutoAlign : DontAlign> > {
+  typedef Map<Matrix<Scalar_, 4, 1>, Options_> Coefficients;
+};
+}  // namespace internal
 
 namespace internal {
-  template<typename _Scalar, int _Options>
-  struct traits<Map<const Quaternion<_Scalar>, _Options> > : traits<Quaternion<_Scalar, (int(_Options)&Aligned)==Aligned ? AutoAlign : DontAlign> >
-  {
-    typedef Map<const Matrix<_Scalar,4,1>, _Options> Coefficients;
-    typedef traits<Quaternion<_Scalar, (int(_Options)&Aligned)==Aligned ? AutoAlign : DontAlign> > TraitsBase;
-    enum {
-      Flags = TraitsBase::Flags & ~LvalueBit
-    };
-  };
-}
+template <typename Scalar_, int Options_>
+struct traits<Map<const Quaternion<Scalar_>, Options_> >
+    : traits<Quaternion<Scalar_, (int(Options_) & Aligned) == Aligned ? AutoAlign : DontAlign> > {
+  typedef Map<const Matrix<Scalar_, 4, 1>, Options_> Coefficients;
+  typedef traits<Quaternion<Scalar_, (int(Options_) & Aligned) == Aligned ? AutoAlign : DontAlign> > TraitsBase;
+  enum { Flags = TraitsBase::Flags & ~LvalueBit };
+};
+}  // namespace internal
 
 /** \ingroup Geometry_Module
-  * \brief Quaternion expression mapping a constant memory buffer
-  *
-  * \tparam _Scalar the type of the Quaternion coefficients
-  * \tparam _Options see class Map
-  *
-  * This is a specialization of class Map for Quaternion. This class allows to view
-  * a 4 scalar memory buffer as an Eigen's Quaternion object.
-  *
-  * \sa class Map, class Quaternion, class QuaternionBase
-  */
-template<typename _Scalar, int _Options>
-class Map<const Quaternion<_Scalar>, _Options >
-  : public QuaternionBase<Map<const Quaternion<_Scalar>, _Options> >
-{
-  public:
-    typedef QuaternionBase<Map<const Quaternion<_Scalar>, _Options> > Base;
-
-    typedef _Scalar Scalar;
-    typedef typename internal::traits<Map>::Coefficients Coefficients;
-    EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Map)
-    using Base::operator*=;
-
-    /** Constructs a Mapped Quaternion object from the pointer \a coeffs
-      *
-      * The pointer \a coeffs must reference the four coefficients of Quaternion in the following order:
-      * \code *coeffs == {x, y, z, w} \endcode
-      *
-      * If the template parameter _Options is set to #Aligned, then the pointer coeffs must be aligned. */
-    EIGEN_DEVICE_FUNC explicit EIGEN_STRONG_INLINE Map(const Scalar* coeffs) : m_coeffs(coeffs) {}
-
-    EIGEN_DEVICE_FUNC inline const Coefficients& coeffs() const { return m_coeffs;}
-
-  protected:
-    const Coefficients m_coeffs;
+ * \brief Quaternion expression mapping a constant memory buffer
+ *
+ * \tparam Scalar_ the type of the Quaternion coefficients
+ * \tparam Options_ see class Map
+ *
+ * This is a specialization of class Map for Quaternion. This class allows to view
+ * a 4 scalar memory buffer as an Eigen's Quaternion object.
+ *
+ * \sa class Map, class Quaternion, class QuaternionBase
+ */
+template <typename Scalar_, int Options_>
+class Map<const Quaternion<Scalar_>, Options_> : public QuaternionBase<Map<const Quaternion<Scalar_>, Options_> > {
+ public:
+  typedef QuaternionBase<Map<const Quaternion<Scalar_>, Options_> > Base;
+
+  typedef Scalar_ Scalar;
+  typedef typename internal::traits<Map>::Coefficients Coefficients;
+  EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Map)
+  using Base::operator*=;
+
+  /** Constructs a Mapped Quaternion object from the pointer \a coeffs
+   *
+   * The pointer \a coeffs must reference the four coefficients of Quaternion in the following order:
+   * \code *coeffs == {x, y, z, w} \endcode
+   *
+   * If the template parameter Options_ is set to #Aligned, then the pointer coeffs must be aligned. */
+  EIGEN_DEVICE_FUNC explicit EIGEN_STRONG_INLINE Map(const Scalar* coeffs) : m_coeffs(coeffs) {}
+
+  EIGEN_DEVICE_FUNC inline const Coefficients& coeffs() const { return m_coeffs; }
+
+  EIGEN_DEVICE_FUNC inline Coefficients coeffsScalarLast() const { return m_coeffs; }
+
+  EIGEN_DEVICE_FUNC inline Coefficients coeffsScalarFirst() const {
+    return {m_coeffs.w(), m_coeffs.x(), m_coeffs.y(), m_coeffs.z()};
+  }
+
+ protected:
+  const Coefficients m_coeffs;
 };
 
 /** \ingroup Geometry_Module
-  * \brief Expression of a quaternion from a memory buffer
-  *
-  * \tparam _Scalar the type of the Quaternion coefficients
-  * \tparam _Options see class Map
-  *
-  * This is a specialization of class Map for Quaternion. This class allows to view
-  * a 4 scalar memory buffer as an Eigen's  Quaternion object.
-  *
-  * \sa class Map, class Quaternion, class QuaternionBase
-  */
-template<typename _Scalar, int _Options>
-class Map<Quaternion<_Scalar>, _Options >
-  : public QuaternionBase<Map<Quaternion<_Scalar>, _Options> >
-{
-  public:
-    typedef QuaternionBase<Map<Quaternion<_Scalar>, _Options> > Base;
-
-    typedef _Scalar Scalar;
-    typedef typename internal::traits<Map>::Coefficients Coefficients;
-    EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Map)
-    using Base::operator*=;
-
-    /** Constructs a Mapped Quaternion object from the pointer \a coeffs
-      *
-      * The pointer \a coeffs must reference the four coefficients of Quaternion in the following order:
-      * \code *coeffs == {x, y, z, w} \endcode
-      *
-      * If the template parameter _Options is set to #Aligned, then the pointer coeffs must be aligned. */
-    EIGEN_DEVICE_FUNC explicit EIGEN_STRONG_INLINE Map(Scalar* coeffs) : m_coeffs(coeffs) {}
-
-    EIGEN_DEVICE_FUNC inline Coefficients& coeffs() { return m_coeffs; }
-    EIGEN_DEVICE_FUNC inline const Coefficients& coeffs() const { return m_coeffs; }
-
-  protected:
-    Coefficients m_coeffs;
+ * \brief Expression of a quaternion from a memory buffer
+ *
+ * \tparam Scalar_ the type of the Quaternion coefficients
+ * \tparam Options_ see class Map
+ *
+ * This is a specialization of class Map for Quaternion. This class allows to view
+ * a 4 scalar memory buffer as an Eigen's  Quaternion object.
+ *
+ * \sa class Map, class Quaternion, class QuaternionBase
+ */
+template <typename Scalar_, int Options_>
+class Map<Quaternion<Scalar_>, Options_> : public QuaternionBase<Map<Quaternion<Scalar_>, Options_> > {
+ public:
+  typedef QuaternionBase<Map<Quaternion<Scalar_>, Options_> > Base;
+
+  typedef Scalar_ Scalar;
+  typedef typename internal::traits<Map>::Coefficients Coefficients;
+  EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Map)
+  using Base::operator*=;
+
+  /** Constructs a Mapped Quaternion object from the pointer \a coeffs
+   *
+   * The pointer \a coeffs must reference the four coefficients of Quaternion in the following order:
+   * \code *coeffs == {x, y, z, w} \endcode
+   *
+   * If the template parameter Options_ is set to #Aligned, then the pointer coeffs must be aligned. */
+  EIGEN_DEVICE_FUNC explicit EIGEN_STRONG_INLINE Map(Scalar* coeffs) : m_coeffs(coeffs) {}
+
+  EIGEN_DEVICE_FUNC inline Coefficients& coeffs() { return m_coeffs; }
+  EIGEN_DEVICE_FUNC inline const Coefficients& coeffs() const { return m_coeffs; }
+
+  EIGEN_DEVICE_FUNC inline Coefficients coeffsScalarLast() const { return m_coeffs; }
+
+  EIGEN_DEVICE_FUNC inline Coefficients coeffsScalarFirst() const {
+    return {m_coeffs.w(), m_coeffs.x(), m_coeffs.y(), m_coeffs.z()};
+  }
+
+ protected:
+  Coefficients m_coeffs;
 };
 
 /** \ingroup Geometry_Module
-  * Map an unaligned array of single precision scalars as a quaternion */
-typedef Map<Quaternion<float>, 0>         QuaternionMapf;
+ * Map an unaligned array of single precision scalars as a quaternion */
+typedef Map<Quaternion<float>, 0> QuaternionMapf;
 /** \ingroup Geometry_Module
-  * Map an unaligned array of double precision scalars as a quaternion */
-typedef Map<Quaternion<double>, 0>        QuaternionMapd;
+ * Map an unaligned array of double precision scalars as a quaternion */
+typedef Map<Quaternion<double>, 0> QuaternionMapd;
 /** \ingroup Geometry_Module
-  * Map a 16-byte aligned array of single precision scalars as a quaternion */
-typedef Map<Quaternion<float>, Aligned>   QuaternionMapAlignedf;
+ * Map a 16-byte aligned array of single precision scalars as a quaternion */
+typedef Map<Quaternion<float>, Aligned> QuaternionMapAlignedf;
 /** \ingroup Geometry_Module
-  * Map a 16-byte aligned array of double precision scalars as a quaternion */
-typedef Map<Quaternion<double>, Aligned>  QuaternionMapAlignedd;
+ * Map a 16-byte aligned array of double precision scalars as a quaternion */
+typedef Map<Quaternion<double>, Aligned> QuaternionMapAlignedd;
 
 /***************************************************************************
-* Implementation of QuaternionBase methods
-***************************************************************************/
+ * Implementation of QuaternionBase methods
+ ***************************************************************************/
 
 // Generic Quaternion * Quaternion product
 // This product can be specialized for a given architecture via the Arch template argument.
 namespace internal {
-template<int Arch, class Derived1, class Derived2, typename Scalar> struct quat_product
-{
-  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE Quaternion<Scalar> run(const QuaternionBase<Derived1>& a, const QuaternionBase<Derived2>& b){
-    return Quaternion<Scalar>
-    (
-      a.w() * b.w() - a.x() * b.x() - a.y() * b.y() - a.z() * b.z(),
-      a.w() * b.x() + a.x() * b.w() + a.y() * b.z() - a.z() * b.y(),
-      a.w() * b.y() + a.y() * b.w() + a.z() * b.x() - a.x() * b.z(),
-      a.w() * b.z() + a.z() * b.w() + a.x() * b.y() - a.y() * b.x()
-    );
+template <int Arch, class Derived1, class Derived2, typename Scalar>
+struct quat_product {
+  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE Quaternion<Scalar> run(const QuaternionBase<Derived1>& a,
+                                                                      const QuaternionBase<Derived2>& b) {
+    return Quaternion<Scalar>(a.w() * b.w() - a.x() * b.x() - a.y() * b.y() - a.z() * b.z(),
+                              a.w() * b.x() + a.x() * b.w() + a.y() * b.z() - a.z() * b.y(),
+                              a.w() * b.y() + a.y() * b.w() + a.z() * b.x() - a.x() * b.z(),
+                              a.w() * b.z() + a.z() * b.w() + a.x() * b.y() - a.y() * b.x());
   }
 };
-}
+}  // namespace internal
 
 /** \returns the concatenation of two rotations as a quaternion-quaternion product */
 template <class Derived>
 template <class OtherDerived>
 EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Quaternion<typename internal::traits<Derived>::Scalar>
-QuaternionBase<Derived>::operator* (const QuaternionBase<OtherDerived>& other) const
-{
-  EIGEN_STATIC_ASSERT((internal::is_same<typename Derived::Scalar, typename OtherDerived::Scalar>::value),
-   YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
+QuaternionBase<Derived>::operator*(const QuaternionBase<OtherDerived>& other) const {
+  EIGEN_STATIC_ASSERT(
+      (internal::is_same<typename Derived::Scalar, typename OtherDerived::Scalar>::value),
+      YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
   return internal::quat_product<Architecture::Target, Derived, OtherDerived,
-                         typename internal::traits<Derived>::Scalar>::run(*this, other);
+                                typename internal::traits<Derived>::Scalar>::run(*this, other);
 }
 
 /** \sa operator*(Quaternion) */
 template <class Derived>
 template <class OtherDerived>
-EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& QuaternionBase<Derived>::operator*= (const QuaternionBase<OtherDerived>& other)
-{
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& QuaternionBase<Derived>::operator*=(
+    const QuaternionBase<OtherDerived>& other) {
   derived() = derived() * other.derived();
   return derived();
 }
 
 /** Rotation of a vector by a quaternion.
-  * \remarks If the quaternion is used to rotate several points (>1)
-  * then it is much more efficient to first convert it to a 3x3 Matrix.
-  * Comparison of the operation cost for n transformations:
-  *   - Quaternion2:    30n
-  *   - Via a Matrix3: 24 + 15n
-  */
+ * \remarks If the quaternion is used to rotate several points (>1)
+ * then it is much more efficient to first convert it to a 3x3 Matrix.
+ * Comparison of the operation cost for n transformations:
+ *   - Quaternion2:    30n
+ *   - Via a Matrix3: 24 + 15n
+ */
 template <class Derived>
 EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE typename QuaternionBase<Derived>::Vector3
-QuaternionBase<Derived>::_transformVector(const Vector3& v) const
-{
-    // Note that this algorithm comes from the optimization by hand
-    // of the conversion to a Matrix followed by a Matrix/Vector product.
-    // It appears to be much faster than the common algorithm found
-    // in the literature (30 versus 39 flops). It also requires two
-    // Vector3 as temporaries.
-    Vector3 uv = this->vec().cross(v);
-    uv += uv;
-    return v + this->w() * uv + this->vec().cross(uv);
+QuaternionBase<Derived>::_transformVector(const Vector3& v) const {
+  // Note that this algorithm comes from the optimization by hand
+  // of the conversion to a Matrix followed by a Matrix/Vector product.
+  // It appears to be much faster than the common algorithm found
+  // in the literature (30 versus 39 flops). It also requires two
+  // Vector3 as temporaries.
+  Vector3 uv = this->vec().cross(v);
+  uv += uv;
+  return v + this->w() * uv + this->vec().cross(uv);
 }
 
-template<class Derived>
-EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE QuaternionBase<Derived>& QuaternionBase<Derived>::operator=(const QuaternionBase<Derived>& other)
-{
+template <class Derived>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE QuaternionBase<Derived>& QuaternionBase<Derived>::operator=(
+    const QuaternionBase<Derived>& other) {
   coeffs() = other.coeffs();
   return derived();
 }
 
-template<class Derived>
-template<class OtherDerived>
-EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& QuaternionBase<Derived>::operator=(const QuaternionBase<OtherDerived>& other)
-{
+template <class Derived>
+template <class OtherDerived>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& QuaternionBase<Derived>::operator=(
+    const QuaternionBase<OtherDerived>& other) {
   coeffs() = other.coeffs();
   return derived();
 }
 
 /** Set \c *this from an angle-axis \a aa and returns a reference to \c *this
-  */
-template<class Derived>
-EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& QuaternionBase<Derived>::operator=(const AngleAxisType& aa)
-{
+ */
+template <class Derived>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& QuaternionBase<Derived>::operator=(const AngleAxisType& aa) {
   EIGEN_USING_STD(cos)
   EIGEN_USING_STD(sin)
-  Scalar ha = Scalar(0.5)*aa.angle(); // Scalar(0.5) to suppress precision loss warnings
+  Scalar ha = Scalar(0.5) * aa.angle();  // Scalar(0.5) to suppress precision loss warnings
   this->w() = cos(ha);
   this->vec() = sin(ha) * aa.axis();
   return derived();
 }
 
 /** Set \c *this from the expression \a xpr:
-  *   - if \a xpr is a 4x1 vector, then \a xpr is assumed to be a quaternion
-  *   - if \a xpr is a 3x3 matrix, then \a xpr is assumed to be rotation matrix
-  *     and \a xpr is converted to a quaternion
-  */
-
-template<class Derived>
-template<class MatrixDerived>
-EIGEN_DEVICE_FUNC inline Derived& QuaternionBase<Derived>::operator=(const MatrixBase<MatrixDerived>& xpr)
-{
-  EIGEN_STATIC_ASSERT((internal::is_same<typename Derived::Scalar, typename MatrixDerived::Scalar>::value),
-   YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
+ *   - if \a xpr is a 4x1 vector, then \a xpr is assumed to be a quaternion
+ *   - if \a xpr is a 3x3 matrix, then \a xpr is assumed to be rotation matrix
+ *     and \a xpr is converted to a quaternion
+ */
+
+template <class Derived>
+template <class MatrixDerived>
+EIGEN_DEVICE_FUNC inline Derived& QuaternionBase<Derived>::operator=(const MatrixBase<MatrixDerived>& xpr) {
+  EIGEN_STATIC_ASSERT(
+      (internal::is_same<typename Derived::Scalar, typename MatrixDerived::Scalar>::value),
+      YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
   internal::quaternionbase_assign_impl<MatrixDerived>::run(*this, xpr.derived());
   return derived();
 }
 
 /** Convert the quaternion to a 3x3 rotation matrix. The quaternion is required to
-  * be normalized, otherwise the result is undefined.
-  */
-template<class Derived>
-EIGEN_DEVICE_FUNC inline typename QuaternionBase<Derived>::Matrix3
-QuaternionBase<Derived>::toRotationMatrix(void) const
-{
+ * be normalized, otherwise the result is undefined.
+ */
+template <class Derived>
+EIGEN_DEVICE_FUNC inline typename QuaternionBase<Derived>::Matrix3 QuaternionBase<Derived>::toRotationMatrix(
+    void) const {
   // NOTE if inlined, then gcc 4.2 and 4.4 get rid of the temporary (not gcc 4.3 !!)
   // if not inlined then the cost of the return by value is huge ~ +35%,
   // however, not inlining this function is an order of magnitude slower, so
   // it has to be inlined, and so the return by value is not an issue
   Matrix3 res;
 
-  const Scalar tx  = Scalar(2)*this->x();
-  const Scalar ty  = Scalar(2)*this->y();
-  const Scalar tz  = Scalar(2)*this->z();
-  const Scalar twx = tx*this->w();
-  const Scalar twy = ty*this->w();
-  const Scalar twz = tz*this->w();
-  const Scalar txx = tx*this->x();
-  const Scalar txy = ty*this->x();
-  const Scalar txz = tz*this->x();
-  const Scalar tyy = ty*this->y();
-  const Scalar tyz = tz*this->y();
-  const Scalar tzz = tz*this->z();
-
-  res.coeffRef(0,0) = Scalar(1)-(tyy+tzz);
-  res.coeffRef(0,1) = txy-twz;
-  res.coeffRef(0,2) = txz+twy;
-  res.coeffRef(1,0) = txy+twz;
-  res.coeffRef(1,1) = Scalar(1)-(txx+tzz);
-  res.coeffRef(1,2) = tyz-twx;
-  res.coeffRef(2,0) = txz-twy;
-  res.coeffRef(2,1) = tyz+twx;
-  res.coeffRef(2,2) = Scalar(1)-(txx+tyy);
+  const Scalar tx = Scalar(2) * this->x();
+  const Scalar ty = Scalar(2) * this->y();
+  const Scalar tz = Scalar(2) * this->z();
+  const Scalar twx = tx * this->w();
+  const Scalar twy = ty * this->w();
+  const Scalar twz = tz * this->w();
+  const Scalar txx = tx * this->x();
+  const Scalar txy = ty * this->x();
+  const Scalar txz = tz * this->x();
+  const Scalar tyy = ty * this->y();
+  const Scalar tyz = tz * this->y();
+  const Scalar tzz = tz * this->z();
+
+  res.coeffRef(0, 0) = Scalar(1) - (tyy + tzz);
+  res.coeffRef(0, 1) = txy - twz;
+  res.coeffRef(0, 2) = txz + twy;
+  res.coeffRef(1, 0) = txy + twz;
+  res.coeffRef(1, 1) = Scalar(1) - (txx + tzz);
+  res.coeffRef(1, 2) = tyz - twx;
+  res.coeffRef(2, 0) = txz - twy;
+  res.coeffRef(2, 1) = tyz + twx;
+  res.coeffRef(2, 2) = Scalar(1) - (txx + tyy);
 
   return res;
 }
 
 /** Sets \c *this to be a quaternion representing a rotation between
-  * the two arbitrary vectors \a a and \a b. In other words, the built
-  * rotation represent a rotation sending the line of direction \a a
-  * to the line of direction \a b, both lines passing through the origin.
-  *
-  * \returns a reference to \c *this.
-  *
-  * Note that the two input vectors do \b not have to be normalized, and
-  * do not need to have the same norm.
-  */
-template<class Derived>
-template<typename Derived1, typename Derived2>
-EIGEN_DEVICE_FUNC inline Derived& QuaternionBase<Derived>::setFromTwoVectors(const MatrixBase<Derived1>& a, const MatrixBase<Derived2>& b)
-{
+ * the two arbitrary vectors \a a and \a b. In other words, the built
+ * rotation represent a rotation sending the line of direction \a a
+ * to the line of direction \a b, both lines passing through the origin.
+ *
+ * \returns a reference to \c *this.
+ *
+ * Note that the two input vectors do \b not have to be normalized, and
+ * do not need to have the same norm.
+ */
+template <class Derived>
+template <typename Derived1, typename Derived2>
+EIGEN_DEVICE_FUNC inline Derived& QuaternionBase<Derived>::setFromTwoVectors(const MatrixBase<Derived1>& a,
+                                                                             const MatrixBase<Derived2>& b) {
   EIGEN_USING_STD(sqrt)
   Vector3 v0 = a.normalized();
   Vector3 v1 = b.normalized();
@@ -650,21 +704,21 @@ EIGEN_DEVICE_FUNC inline Derived& QuaternionBase<Derived>::setFromTwoVectors(con
   //    under the constraint:
   //       ||x|| = 1
   //    which yields a singular value problem
-  if (c < Scalar(-1)+NumTraits<Scalar>::dummy_precision())
-  {
-    c = numext::maxi(c,Scalar(-1));
-    Matrix<Scalar,2,3> m; m << v0.transpose(), v1.transpose();
-    JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
+  if (c < Scalar(-1) + NumTraits<Scalar>::dummy_precision()) {
+    c = numext::maxi(c, Scalar(-1));
+    Matrix<Scalar, 2, 3> m;
+    m << v0.transpose(), v1.transpose();
+    JacobiSVD<Matrix<Scalar, 2, 3>, ComputeFullV> svd(m);
     Vector3 axis = svd.matrixV().col(2);
 
-    Scalar w2 = (Scalar(1)+c)*Scalar(0.5);
+    Scalar w2 = (Scalar(1) + c) * Scalar(0.5);
     this->w() = sqrt(w2);
     this->vec() = axis * sqrt(Scalar(1) - w2);
     return derived();
   }
   Vector3 axis = v0.cross(v1);
-  Scalar s = sqrt((Scalar(1)+c)*Scalar(2));
-  Scalar invs = Scalar(1)/s;
+  Scalar s = sqrt((Scalar(1) + c) * Scalar(2));
+  Scalar invs = Scalar(1) / s;
   this->vec() = axis * invs;
   this->w() = s * Scalar(0.5);
 
@@ -672,59 +726,82 @@ EIGEN_DEVICE_FUNC inline Derived& QuaternionBase<Derived>::setFromTwoVectors(con
 }
 
 /** \returns a random unit quaternion following a uniform distribution law on SO(3)
-  *
-  * \note The implementation is based on http://planning.cs.uiuc.edu/node198.html
-  */
-template<typename Scalar, int Options>
-EIGEN_DEVICE_FUNC Quaternion<Scalar,Options> Quaternion<Scalar,Options>::UnitRandom()
-{
+ *
+ * \note The implementation is based on http://planning.cs.uiuc.edu/node198.html
+ */
+template <typename Scalar, int Options>
+EIGEN_DEVICE_FUNC Quaternion<Scalar, Options> Quaternion<Scalar, Options>::UnitRandom() {
   EIGEN_USING_STD(sqrt)
   EIGEN_USING_STD(sin)
   EIGEN_USING_STD(cos)
-  const Scalar u1 = internal::random<Scalar>(0, 1),
-               u2 = internal::random<Scalar>(0, 2*EIGEN_PI),
-               u3 = internal::random<Scalar>(0, 2*EIGEN_PI);
-  const Scalar a = sqrt(Scalar(1) - u1),
-               b = sqrt(u1);
-  return Quaternion (a * sin(u2), a * cos(u2), b * sin(u3), b * cos(u3));
+  const Scalar u1 = internal::random<Scalar>(0, 1), u2 = internal::random<Scalar>(0, 2 * EIGEN_PI),
+               u3 = internal::random<Scalar>(0, 2 * EIGEN_PI);
+  const Scalar a = sqrt(Scalar(1) - u1), b = sqrt(u1);
+  return Quaternion(a * sin(u2), a * cos(u2), b * sin(u3), b * cos(u3));
 }
 
+/** Constructs a quaternion from its coefficients in the order [\c x, \c y, \c z, \c w], i.e. vector part [\c x, \c y,
+ * \c z] first, scalar part \a w LAST.
+ *
+ * This factory accepts the parameters in the same order as the underlying coefficient vector. Consider using this
+ * factory function to make the parameter ordering explicit.
+ */
+template <typename Scalar, int Options>
+EIGEN_DEVICE_FUNC Quaternion<Scalar, Options> Quaternion<Scalar, Options>::FromCoeffsScalarLast(const Scalar& x,
+                                                                                                const Scalar& y,
+                                                                                                const Scalar& z,
+                                                                                                const Scalar& w) {
+  return Quaternion(w, x, y, z);
+}
 
-/** Returns a quaternion representing a rotation between
-  * the two arbitrary vectors \a a and \a b. In other words, the built
-  * rotation represent a rotation sending the line of direction \a a
-  * to the line of direction \a b, both lines passing through the origin.
-  *
-  * \returns resulting quaternion
-  *
-  * Note that the two input vectors do \b not have to be normalized, and
-  * do not need to have the same norm.
-  */
-template<typename Scalar, int Options>
-template<typename Derived1, typename Derived2>
-EIGEN_DEVICE_FUNC Quaternion<Scalar,Options> Quaternion<Scalar,Options>::FromTwoVectors(const MatrixBase<Derived1>& a, const MatrixBase<Derived2>& b)
-{
-    Quaternion quat;
-    quat.setFromTwoVectors(a, b);
-    return quat;
+/** Constructs a quaternion from its coefficients in the order [\c w, \c x, \c y, \c z], i.e. scalar part \a w FIRST,
+ * vector part [\c x, \c y, \c z] last.
+ *
+ * This factory accepts the parameters in the same order as the constructor \code Quaternion(const Scalar& w, const
+ * Scalar& x, const Scalar& y, const Scalar& z) \endcode. Consider using this factory function to make the parameter
+ * ordering explicit.
+ */
+template <typename Scalar, int Options>
+EIGEN_DEVICE_FUNC Quaternion<Scalar, Options> Quaternion<Scalar, Options>::FromCoeffsScalarFirst(const Scalar& w,
+                                                                                                 const Scalar& x,
+                                                                                                 const Scalar& y,
+                                                                                                 const Scalar& z) {
+  return Quaternion(w, x, y, z);
 }
 
+/** Returns a quaternion representing a rotation between
+ * the two arbitrary vectors \a a and \a b. In other words, the built
+ * rotation represent a rotation sending the line of direction \a a
+ * to the line of direction \a b, both lines passing through the origin.
+ *
+ * \returns resulting quaternion
+ *
+ * Note that the two input vectors do \b not have to be normalized, and
+ * do not need to have the same norm.
+ */
+template <typename Scalar, int Options>
+template <typename Derived1, typename Derived2>
+EIGEN_DEVICE_FUNC Quaternion<Scalar, Options> Quaternion<Scalar, Options>::FromTwoVectors(
+    const MatrixBase<Derived1>& a, const MatrixBase<Derived2>& b) {
+  Quaternion quat;
+  quat.setFromTwoVectors(a, b);
+  return quat;
+}
 
 /** \returns the multiplicative inverse of \c *this
-  * Note that in most cases, i.e., if you simply want the opposite rotation,
-  * and/or the quaternion is normalized, then it is enough to use the conjugate.
-  *
-  * \sa QuaternionBase::conjugate()
-  */
+ * Note that in most cases, i.e., if you simply want the opposite rotation,
+ * and/or the quaternion is normalized, then it is enough to use the conjugate.
+ *
+ * \sa QuaternionBase::conjugate()
+ */
 template <class Derived>
-EIGEN_DEVICE_FUNC inline Quaternion<typename internal::traits<Derived>::Scalar> QuaternionBase<Derived>::inverse() const
-{
+EIGEN_DEVICE_FUNC inline Quaternion<typename internal::traits<Derived>::Scalar> QuaternionBase<Derived>::inverse()
+    const {
   // FIXME should this function be called multiplicativeInverse and conjugate() be called inverse() or opposite()  ??
   Scalar n2 = this->squaredNorm();
   if (n2 > Scalar(0))
     return Quaternion<Scalar>(conjugate().coeffs() / n2);
-  else
-  {
+  else {
     // return an invalid result to flag the error
     return Quaternion<Scalar>(Coefficients::Zero());
   }
@@ -732,55 +809,48 @@ EIGEN_DEVICE_FUNC inline Quaternion<typename internal::traits<Derived>::Scalar>
 
 // Generic conjugate of a Quaternion
 namespace internal {
-template<int Arch, class Derived, typename Scalar> struct quat_conj
-{
-  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE Quaternion<Scalar> run(const QuaternionBase<Derived>& q){
-    return Quaternion<Scalar>(q.w(),-q.x(),-q.y(),-q.z());
+template <int Arch, class Derived, typename Scalar>
+struct quat_conj {
+  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE Quaternion<Scalar> run(const QuaternionBase<Derived>& q) {
+    return Quaternion<Scalar>(q.w(), -q.x(), -q.y(), -q.z());
   }
 };
-}
-                         
+}  // namespace internal
+
 /** \returns the conjugate of the \c *this which is equal to the multiplicative inverse
-  * if the quaternion is normalized.
-  * The conjugate of a quaternion represents the opposite rotation.
-  *
-  * \sa Quaternion2::inverse()
-  */
+ * if the quaternion is normalized.
+ * The conjugate of a quaternion represents the opposite rotation.
+ *
+ * \sa Quaternion2::inverse()
+ */
 template <class Derived>
-EIGEN_DEVICE_FUNC inline Quaternion<typename internal::traits<Derived>::Scalar>
-QuaternionBase<Derived>::conjugate() const
-{
-  return internal::quat_conj<Architecture::Target, Derived,
-                         typename internal::traits<Derived>::Scalar>::run(*this);
-                         
+EIGEN_DEVICE_FUNC inline Quaternion<typename internal::traits<Derived>::Scalar> QuaternionBase<Derived>::conjugate()
+    const {
+  return internal::quat_conj<Architecture::Target, Derived, typename internal::traits<Derived>::Scalar>::run(*this);
 }
 
 /** \returns the angle (in radian) between two rotations
-  * \sa dot()
-  */
+ * \sa dot()
+ */
 template <class Derived>
 template <class OtherDerived>
-EIGEN_DEVICE_FUNC inline typename internal::traits<Derived>::Scalar
-QuaternionBase<Derived>::angularDistance(const QuaternionBase<OtherDerived>& other) const
-{
+EIGEN_DEVICE_FUNC inline typename internal::traits<Derived>::Scalar QuaternionBase<Derived>::angularDistance(
+    const QuaternionBase<OtherDerived>& other) const {
   EIGEN_USING_STD(atan2)
   Quaternion<Scalar> d = (*this) * other.conjugate();
-  return Scalar(2) * atan2( d.vec().norm(), numext::abs(d.w()) );
+  return Scalar(2) * atan2(d.vec().norm(), numext::abs(d.w()));
 }
 
- 
-    
 /** \returns the spherical linear interpolation between the two quaternions
-  * \c *this and \a other at the parameter \a t in [0;1].
-  * 
-  * This represents an interpolation for a constant motion between \c *this and \a other,
-  * see also http://en.wikipedia.org/wiki/Slerp.
-  */
+ * \c *this and \a other at the parameter \a t in [0;1].
+ *
+ * This represents an interpolation for a constant motion between \c *this and \a other,
+ * see also http://en.wikipedia.org/wiki/Slerp.
+ */
 template <class Derived>
 template <class OtherDerived>
-EIGEN_DEVICE_FUNC Quaternion<typename internal::traits<Derived>::Scalar>
-QuaternionBase<Derived>::slerp(const Scalar& t, const QuaternionBase<OtherDerived>& other) const
-{
+EIGEN_DEVICE_FUNC Quaternion<typename internal::traits<Derived>::Scalar> QuaternionBase<Derived>::slerp(
+    const Scalar& t, const QuaternionBase<OtherDerived>& other) const {
   EIGEN_USING_STD(acos)
   EIGEN_USING_STD(sin)
   const Scalar one = Scalar(1) - NumTraits<Scalar>::epsilon();
@@ -790,21 +860,18 @@ QuaternionBase<Derived>::slerp(const Scalar& t, const QuaternionBase<OtherDerive
   Scalar scale0;
   Scalar scale1;
 
-  if(absD>=one)
-  {
+  if (absD >= one) {
     scale0 = Scalar(1) - t;
     scale1 = t;
-  }
-  else
-  {
+  } else {
     // theta is the angle between the 2 quaternions
     Scalar theta = acos(absD);
-    Scalar sinTheta = sin(theta);
+    Scalar sinTheta = numext::sqrt(Scalar(1) - absD * absD);
 
-    scale0 = sin( ( Scalar(1) - t ) * theta) / sinTheta;
-    scale1 = sin( ( t * theta) ) / sinTheta;
+    scale0 = sin((Scalar(1) - t) * theta) / sinTheta;
+    scale1 = sin((t * theta)) / sinTheta;
   }
-  if(d<Scalar(0)) scale1 = -scale1;
+  if (d < Scalar(0)) scale1 = -scale1;
 
   return Quaternion<Scalar>(scale0 * coeffs() + scale1 * other.coeffs());
 }
@@ -812,59 +879,52 @@ QuaternionBase<Derived>::slerp(const Scalar& t, const QuaternionBase<OtherDerive
 namespace internal {
 
 // set from a rotation matrix
-template<typename Other>
-struct quaternionbase_assign_impl<Other,3,3>
-{
+template <typename Other>
+struct quaternionbase_assign_impl<Other, 3, 3> {
   typedef typename Other::Scalar Scalar;
-  template<class Derived> EIGEN_DEVICE_FUNC static inline void run(QuaternionBase<Derived>& q, const Other& a_mat)
-  {
-    const typename internal::nested_eval<Other,2>::type mat(a_mat);
+  template <class Derived>
+  EIGEN_DEVICE_FUNC static inline void run(QuaternionBase<Derived>& q, const Other& a_mat) {
+    const typename internal::nested_eval<Other, 2>::type mat(a_mat);
     EIGEN_USING_STD(sqrt)
     // This algorithm comes from  "Quaternion Calculus and Fast Animation",
     // Ken Shoemake, 1987 SIGGRAPH course notes
     Scalar t = mat.trace();
-    if (t > Scalar(0))
-    {
+    if (t > Scalar(0)) {
       t = sqrt(t + Scalar(1.0));
-      q.w() = Scalar(0.5)*t;
-      t = Scalar(0.5)/t;
-      q.x() = (mat.coeff(2,1) - mat.coeff(1,2)) * t;
-      q.y() = (mat.coeff(0,2) - mat.coeff(2,0)) * t;
-      q.z() = (mat.coeff(1,0) - mat.coeff(0,1)) * t;
-    }
-    else
-    {
+      q.w() = Scalar(0.5) * t;
+      t = Scalar(0.5) / t;
+      q.x() = (mat.coeff(2, 1) - mat.coeff(1, 2)) * t;
+      q.y() = (mat.coeff(0, 2) - mat.coeff(2, 0)) * t;
+      q.z() = (mat.coeff(1, 0) - mat.coeff(0, 1)) * t;
+    } else {
       Index i = 0;
-      if (mat.coeff(1,1) > mat.coeff(0,0))
-        i = 1;
-      if (mat.coeff(2,2) > mat.coeff(i,i))
-        i = 2;
-      Index j = (i+1)%3;
-      Index k = (j+1)%3;
-
-      t = sqrt(mat.coeff(i,i)-mat.coeff(j,j)-mat.coeff(k,k) + Scalar(1.0));
+      if (mat.coeff(1, 1) > mat.coeff(0, 0)) i = 1;
+      if (mat.coeff(2, 2) > mat.coeff(i, i)) i = 2;
+      Index j = (i + 1) % 3;
+      Index k = (j + 1) % 3;
+
+      t = sqrt(mat.coeff(i, i) - mat.coeff(j, j) - mat.coeff(k, k) + Scalar(1.0));
       q.coeffs().coeffRef(i) = Scalar(0.5) * t;
-      t = Scalar(0.5)/t;
-      q.w() = (mat.coeff(k,j)-mat.coeff(j,k))*t;
-      q.coeffs().coeffRef(j) = (mat.coeff(j,i)+mat.coeff(i,j))*t;
-      q.coeffs().coeffRef(k) = (mat.coeff(k,i)+mat.coeff(i,k))*t;
+      t = Scalar(0.5) / t;
+      q.w() = (mat.coeff(k, j) - mat.coeff(j, k)) * t;
+      q.coeffs().coeffRef(j) = (mat.coeff(j, i) + mat.coeff(i, j)) * t;
+      q.coeffs().coeffRef(k) = (mat.coeff(k, i) + mat.coeff(i, k)) * t;
     }
   }
 };
 
 // set from a vector of coefficients assumed to be a quaternion
-template<typename Other>
-struct quaternionbase_assign_impl<Other,4,1>
-{
+template <typename Other>
+struct quaternionbase_assign_impl<Other, 4, 1> {
   typedef typename Other::Scalar Scalar;
-  template<class Derived> EIGEN_DEVICE_FUNC static inline void run(QuaternionBase<Derived>& q, const Other& vec)
-  {
+  template <class Derived>
+  EIGEN_DEVICE_FUNC static inline void run(QuaternionBase<Derived>& q, const Other& vec) {
     q.coeffs() = vec;
   }
 };
 
-} // end namespace internal
+}  // end namespace internal
 
-} // end namespace Eigen
+}  // end namespace Eigen
 
-#endif // EIGEN_QUATERNION_H
+#endif  // EIGEN_QUATERNION_H