Merge pull request #187 from TommasoSorgente/patch-1

bugfix (missing rotation axis normalization in polygon_flatten)

Author: mlivesu

include/cinolib/geometry/polygon_utils.cpp

@@ -121,6 +121,7 @@ bool polygon_flatten(const std::vector<vec3d> & poly3d,
 
     vec3d  Z     = vec3d(0,0,1);
     vec3d  axis  = best_fit.n.cross(Z);
+    axis.normalize();
     double angle = best_fit.n.angle_rad(Z);
     mat3d  R     = mat3d::ROT_3D(axis, angle);