tutorial-se3-manifold
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jlblancoc
LaTeX sources of the technical report "A tutorial on SE(3) transformation parameterizations and on-manifold optimization"
It might be useful to define the Jacobian for this conversion, so all formulas in latest chapters also apply to quaternions via the chain rule. The conversion Jacobian can be...
From here: https://github.com/MRPT/mrpt/pull/1241#discussion_r902258524
(...when time permits) Based on attached sketch by @jbriales (thanks again!) 
Add Travis support, generate PDF and report any error. Optionally, publish the PDF to gh-pages branch. Reuse existing code from [here](https://github.com/jlblancoc/nanoflann/blob/master/.travis.sh#L47-L60).