Pose3 derivative w.r.t. quaternion components

[vovo-4K]

I'm trying to implement custom factor derived from NoiseModelFactor1<Pose3>
As I understood concepts in method evaluateError() I should provide Jacobian matrix for error function with respect to pose vector components i.e. Rx, Ry, Rz, x, y, z, where Rx, Ry and Rz are euler angles components of corresponding Pose3.
In my case I need to perform some operations with rotation, which is better to do with quaternions. Also it helps to avoid trigonometric functions like sin/cos in error function and much simplifies derivatives.

Is there any way to provide Jacobian with respect to qw, qx, qy, qz of Pose3 with no breaking compatibility with current gtsam architecture and already implemented factors?

I've tried to set parameters USE_QUATERNIONS but it affects only internal representation of Rot3.

[dellaert]

Not an issue but a question. I propose you re-pose it on Google group: https://groups.google.com/forum/#!forum/gtsam-users

Short answer: the tangent space of quaternion and matrix representations is identical and is isomorphic to R^3. Please read PDFS in docs folder to get some help on this.