Question about LocalPoseParamters.

[EpsAvlc]

Hello and thank you for your works.

In pose_local_parameterization.cpp.

// calculate the jacobian of [p, q] w.r.t [dp, dq]
// turtial: https://blog.csdn.net/hzwwpgmwy/article/details/86490556
bool PoseLocalParameterization::ComputeJacobian(const double *x, double *jacobian) const
{
    Eigen::Map<Eigen::Matrix<double, 7, 6, Eigen::RowMajor> > j(jacobian);
    j.topRows<6>().setIdentity();
    j.bottomRows<1>().setZero();
    return true;
}

I am wondering why the jacobian is Identity for quanternion? It is conflict with the CSDN blog.