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Constraints
Adam Urbańczyk edited this page Aug 18, 2020
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Interesting review:
This code might be a good starting point
Current idea is to formulate everything as numerical optimization problem. It would be good to have a minimal dependency solution, e.g.
- https://github.com/yixuan/LBFGSpp
- https://eigen.tuxfamily.org/dox/unsupported/classEigen_1_1LevenbergMarquardt.html
Relevant parametrization of quaternions: https://www.plymouth.ac.uk/uploads/production/document/path/8/8594/Terzakis_et_al_2012__A_Recipe_on_the_Parameterization_of_Rotation_Matrices...MIDAS.SME.2012.TR.004.pdf