Joan Solà

For reference: 

And also:  where the strange derivatives in the 3rd row are precisely and respectively the left- and right- Jacobians of `Y=f(X)`

Wow this looks neat! However, I wonder if it is a good idea to have the left/right thing kind of hidden inside of the matrix template definition. I mean it...

> Well, only for tangents and only partially ^^. Since most of the calculus performed by solvers and optimizers is done in the tangent space (that is, all state errors,...

Hey, sorry I am a bit late for this one. Thoughts: yes, faster is always good. Also, the plots show a perfect match of performance. Mind that it is important...

Just for clarification. I suppose you are aware that all our tangent types are Cartesian vectors, that is `Matrix`, and that we do not expose normally the true Lie algebra...

Yes it does! Thanks. I'm mostly concerned with the math of the library. Jeremie is the one involved in the design / development of the library. Let us see what...

Yes, it makes perfect sense and you save a lot of work. I think the base API from Eigen can be exposed partially also, should some parts of it become...

From my side there's not much I can do. But I'd like to see this evolving since I believe this would be a powerful upgrade of the library.

Here's my thought. Implementing most of the Eigen API on top of manif is maybe a dumb option but very effective. It might be tedious but other than that it's...