Please implement some algorithm for generating uniformly-distributed random orientation; an algorithm is decribed in http://planning.cs.uiuc.edu/node198.html (references Shoemaker's Uniform random rotations from Graphic Gems III).
A tentative implementation goes like this (with UnitRandom returning uniform in 0..1):
Scalar u1=UnitRandom(), u2=UnitRandom(), u3=UnitRandom();
Please provide a clean patch with documentation and its respective unit test (added in test/geo_quaternion.cpp) so that it can be integrated quickly.
For "UnitRandom" you can use internal::random<Scalar>(0,1);
Created attachment 669 [details]
Add uniformly random quaternion
Would this fit the Eigen coding standards ?
Sorry for the delay, but it's now in devel branch:
Summary: Bug 823: add static method to Quaternion for uniform random rotations.
Summary: Fix coding practice in Quaternion::UniformRandom
Summary: Rename UniformRandom to UnitRandom.
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