[Bug 962] New: Numerical stability of (Get)EulerZYX, (Get)EulerZYZ, (Get)RPY can be improved

http://bugs.orocos.org/show_bug.cgi?id=962

Summary: Numerical stability of (Get)EulerZYX, (Get)EulerZYZ,
(Get)RPY can be improved
Product: KDL
Version: unspecified
Platform: All
OS/Version: All
Status: NEW
Severity: enhancement
Priority: P3
Component: Primitives
AssignedTo: orocos-dev [..] ...
ReportedBy: Erwin [dot] Aertbelien [..] ...
CC: orocos-dev [..] ...
Estimated Hours: 0.0

Near or on singularities ( beta== +/-PI/2 for EulerZYX and RPY ,
and beta==0 or PI for Euler ZYZ) can be improved. Documentation
should document the behavior in the singular cases. Unit tests for
these routines are lacking.

[Bug 962] Numerical stability of (Get)EulerZYX, (Get)EulerZYZ, (