Boston Cleek

I am also very interested in this. Just getting started with autodiff and trying to integrate armadillo.

Hey @allanleal I think armadillo is a great library and I generally prefer to use if over Eigen. However, I'm on the fence whether or not it's a superior choice...

This would be a serious effort. Reason being armadillo does not support custom scalar types. After talking with the developers of armadillo they are hesitant to support large changes to...

It might be useful to check out the implementation and documentations for the [demos](https://github.com/PickNikRobotics/deep_grasp_demo).

Can I get a review please? @v4hn @rhaschke

> @bostoncleek think this could get merged now? @davetcoleman This was ready to be merged back on August 11th. It is a matter of the maintainers pressing the merge button!...

> It's not just merge, but also review (and possibly fixup). I'm sorry for not getting around to do it. There is always more pressing issues and often two crying...

> As I said, I did not have the time to look through this in detail, and I'm sorry for that. > > My biggest concern, as I can recall...

@rhaschke @JafarAbdi I squashed the commits and now it should be easy for you to review. Conflict is also resolved.

@rhaschke Thank you for the feedback. I will work on the change requests.