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ANYbotics
Kinematics and Dynamics for Robotics
Here we need the following: 1. Match the rotation implementation by implementing `inverted()` and `invert()` 2. Transformation by multiplication (see #28) 3. Transformation of `4x1` vectors 4. Support for `setRandom()`...
We should be able to rotate and transform these. As a minimum, we should support native types (i.e. `Eigen::Vector4d`), but should we also have an abstraction for homogeneous quantities?
The current implementation uses `class get_matrix3` to abstract the types for fixed sized `3xN` matrices. Should we support dynamic sized `3xN` matrices? i.e.: ``` typedef kindr::rotations::eigen_impl::RotationQuaternionAD RotationQuaternion Eigen::MatrixXd A_p(3,100); //...
At the minimum we should cover these guys:  
Either this page http://ethz-asl-lr.bitbucket.org/kindr/page_rotations.html or each rotation implementation should have latex that says how to build a rotation matrix from the scalars for every different rotation parameterization.
Something like this: http://eigen.tuxfamily.org/dox-devel/AsciiQuickReference.txt
This guide should justify the complexity of the implementation, walk the reader through an example of how the implementation hooks together (like for the rotate call or the multiplication call).
As suggested in https://github.com/ethz-asl/minkindr/pull/17/files#r22783093.
