Paul Furgale

Here is a slightly tweaked proposal: 1. Not using CRTP anymore. 2. You have a parameterization class that defines the storage and the static functions. 3. You have an interface...

(Note, I updated the above a few times after posting)

I really like this: ``` c++ namespace interface { template class AngleAxis : public SO3< parameterization::AngleAxis > } ``` It makes the somewhat complicated structure seem simple because of the...

I'm not explicitly anti-traits or anti-CRTP. I just want the solution to be 1. Not strange 2. Easy to understand with a few lines of explanation 3. Not a lot...

Again, I updated the above after committing it.

Hi Christian, Thanks for the comment. I would love to get this sorted out this weekend if possible! I agree it should be easy to understand. Let me try to...

Also: transformation of native types (`Eigen::Vector3d, Eigen::Vector4d`).

@HannesSommer, @remod, @gehrinch, this is a show stopper for me. I want to push to use Kindr in the rewrite of aslam_cv but it isn't possible without: 1. Match the...

Yes, of course it can wait until tomorrow. Thanks for helping me understand the design. As I said, the external interface is very nice.

Here is a way out of all of this: A parameterization _must_ define the semantics of two things: 1. Conversion back and forth to a rotation matrix 2. The underlying...