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Resolve "r2q function returning a non unitary qutarnion when passed a Eigen::Isometry3d::linear() object"

Merged Resolve "r2q function returning a non unitary qutarnion when passed a Eigen::Isometry3d::linear() object"
271-r2q-function-returning-a-non-unitary-qutarnion-when-passed-a-eigen-isometry3d-linear-object into devel
Merged Joan Solà Ortega requested to merge 271-r2q-function-returning-a-non-unitary-qutarnion-when-passed-a-eigen-isometry3d-linear-object into devel