Brian Jackson
Brian Jackson
This is a good question, hopefully my explanations below provide some insight: ```julia ForwardDiff.jacobian(testfoo1,q1) # equivalent to ForwardDiff.jacobian(normalize, q1) ForwardDiff.jacobian(testfoo1,q2) # 9-dimensional input since all 3D Rotations are `StaticMatrix{3,3}`, so...
At least in my fields of dynamics, aerospace, robotics, and mechanical engineering, it's more standard to have the quaternion ordered as `[w,x,y,z]`. So I'm in favor of keeping it as-is....
It happens with both input and output archives. I can certainly use a `std::span` for output, but what about for input? Is there a way to customize the behavior to...