Hello Dr. Boumal
I am wondering if you had any addendum to the 2016 questions posed here on factor-graph-optimization SLAM, and the popular solvers that use Gauss-Newton or Levenberg Marquardt on a manifold like g2o.
Is the manopt toolbox usable in these instances where one seeks to minimize a sum of errors related to a robot state, and where the orientation of the robot is in the form of a quaternion. (The orientation being the only part of the state vector that evolves on a manifold... position, velocity and sensor biases are all incremented by simple vector addition).
Thanks for any help on this question!