feat: add rotation and translation epsilon to adjust convergence crit… #106

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Job	Run time
build (noble, gcc)	1m 24s
build (noble, llvm)	1m 50s
build (jammy, gcc)	1m 24s
build (jammy, llvm)	1m 38s
build (focal, gcc)	1m 24s
build (focal, llvm)	1m 46s
	9m 26s