to discuss : made LocalParametrizationQuaternion template & use partial specialization

Since LocalParametrizationQuaternion private member delta_reference_ is set at instantiation, does not change and is used to specialize computation it is better to use a template partial specialization scheme.

If having the empty template bracket when using the default value DQ_GLOBAL is a killer, we can always consider typedef.

Added Optimization label

Added 1 commit:

• caff6b08 - made LocalParametrizationQuaternion template & use partial specialization

Mentioned in issue #18 (closed)

Unmarked this merge request as a Work In Progress

Status changed to merged

Mentioned in commit c7f68315