Open aaron-skydio opened 2 years ago
For example, if a and b are geo.Rot3s, then tangent_jacobians(a * b, [b])[0] should be the identity matrix, but our current answer doesn't yield that.
a
b
geo.Rot3
tangent_jacobians(a * b, [b])[0]
Find ways to get expressions for jacobians with fewer ops than we currently use (using things like unit norm constraints and whatnot).
For example, if
aandbaregeo.Rot3s, thentangent_jacobians(a * b, [b])[0]should be the identity matrix, but our current answer doesn't yield that.Find ways to get expressions for jacobians with fewer ops than we currently use (using things like unit norm constraints and whatnot).