9fa628f35be31a18edfdb1e1fca8a6bd3b6b453c
Added conversion to and from exponential map representation. This representation is useful for interpolation of > 2 quaternions, or in PD controllers. Implementation in C functions quat_to_expmap, quat_normalized_to_expmap, and expmap_to_quat with Python API, unit tests and documentation. Added Quaternion.to_exponential_map() and Quaternion(3-vector) to Python API. Reviewers: campbellbarton Projects: #bf_blender Differential Revision: https://developer.blender.org/D1049
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