[Insight-users] Derivatives of VersorRigidTransform and VersorRigid3DTransform unstable

[Ranjan, Sohan (GE, Research)]

Folks.
 
The implementation of the computation of derivative for
VersorRigidTransform and VersorRigid3DTransform are 
unstable for rotations of 180 degrees, and after looking into the code,
I see that the divide-by-zero may 
happen for a range of versor values.
 
Can someone check this out, and suggest corrections that may be needed? 
 
 
Sohan 
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