Fix start state for quaternion-based dynamic problems, fix dynamic derivative dimensions

ipab-slmc / exotica

Extensible Optimization Framework

https://ipab-slmc.github.io/exotica

BSD 3-Clause "New" or "Revised" License

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Fix start state for quaternion-based dynamic problems, fix dynamic derivative dimensions #695

Closed wxmerkt closed 4 years ago

wxmerkt commented 4 years ago

This is the first set of fixes for the problems with quaternions. I will open a PR to fix the other dimension issues once #692 and this PR are merged (too much cherry-picking/stashing).

cc: @traikodinev