tree 03dde7c7dc938e0cd7e2cf8349d4aca59161552b
parent fd7cab65ef30fbc33612220abed52dd5073413c4
author Mike Vitus <vitus@google.com> 1471466345 -0700
committer Mike Vitus <vitus@google.com> 1471483734 -0700

Add a quaternion local parameterization for Eigen's quaternion element convention.

Change-Id: I7046e8b24805313c5fb6a767de581d0054fcdb83