Constraints

Interesting review:

• https://www.cs.purdue.edu/homes/cmh/distribution/PapersChron/ConstraintSurvey2010.pdf

This code might be a good starting point

• https://github.com/cmerrill/sketchsolve

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