Refactoring, Documentation and quaternion splines#3
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- Enhanced test coverage across all modules with expanded test cases - Improved code formatting and style consistency throughout codebase - Added comprehensive benchmark tests for performance validation - Updated documentation and examples for better clarity - Fixed coverage command in README.md 🤖 Generated with [Claude Code](https://claude.ai/code) Co-Authored-By: Claude <noreply@anthropic.com>
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