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• 01/04/15:

  • Simplified several things in pow with std::common_type. But there are semantic issues around e.g. Quaternion<int>: should I calculate in reals and then return a Quaternion<double> at the end, or should I round to int at every intermediate step?

• 12/30/15:

  • As I am doing more tests, I am seeing that there are many floating point operations involved in e.g. quaternion transcendentals, and that the numerical accuracy/precision degrade quickly :-( Unfortunately, speed and precision are antithetic, and what's more, seriously improving the precision of the floating point operations is very hard, probably out of the scope of this quaternion library.

• 12/24/15:

  • Tested the "fast inverse square root" from Quake for norms, but the precision I could get out of it was too awful.

• 12/22/15:

  • Just finished installing Travis CI and coveralls. Valgrind is included in the build too.