Markus Giftthaler

Thanks for your comments and insights! I believe that this would be automatically resolved in case that #142 gets as far as to introducing direct inheritance of the tangent-vector types...

Sure, only partially! Of course I base my judgement on the limited scope of my application - but within that application, the solution proposed in the other thread would resolve...

No, I don't think that affects the principal idea. Maybe an application example: what I would like to achieve is that one can evaluate quadratic forms like the following ......

Inheriting from Eigen::Matrix seems like a good idea, I did not have that on my radar, but it probably makes sense for the Tangent class!

Dear @artivis @joansola I wanted to use the opportunity to follow up and further energize the idea of deriving the Tangent classes from Eigen::Matrix. I think that would be a...

No worries, I fully understand (it's the same for me and the control toolbox) and I certainly did not want to appear too demanding! Let me know if there's anything...

Hi @artivis, why should you inherit from MatrixBase rather than from Eigen::Matrix? Do you think exploiting static polymorphism is going to make such a massive difference here? Inheriting from Eigen::Matrix...

Dear @artivis, sorry for introducing such a long delay before my response, now I finally manged to come back to this thread. Here is a (preliminary) list of things that...

> > Hi @markusgft, > just a quick reaction to your fourth point, > > > operator+ for manifold types, e.g. a+b to be used as a replacement for a.compose(b)....

Okay, thanks a lot for the info. I will give it a try, close the issue in case of success or come back with new questions. All the best!