Paul Furgale

Documentation of these functions should always include a few numerical examples of converting to a rotation matrix and back.

I guess then, every constructor function should also have a retrieval function: ``` Vec4d p1 = Quaternion::asWxyzJpl(q1); Vec4d p2 = Quaternion::asWxyzHamilton(q2); std::pair p3 = AngleAxis::asRotateVectorAroundAxis( q3 ); std::pair p4 =...

I would _not_ make these retrieval functions return the Storage type, but just define them directly.

The user should be discouraged from thinking about what is being stored underneath. If we have the constructors and documentation, all I care about is 3.i

I can probably acquiesce on the type names but not on the constructor. ``` HamiltonianQuaternionPassive q1( HamiltonianQuaternionPassive::wxyz(w,x,y,z) ); ``` Question: Now that we are using rotation matrix semantics, what is...

Hannes, I 100% agree with you!

Should this be assigned to @HannesSommer or @remod ?

See also #40