Hi Olexiy,
In my field we often encounter a similar problem when estimating
attitude since a quaternion is only a valid rotation when it is
normalized. We often escape this issue by estimating a "small"
adjustment to an apriori guess. (For the details see [1].) For this
technique to work the cost
Hello,
I created the math issue https://issues.apache.org/jira/browse/MATH-1144.
In version 2.0, LevenbergMarquardtOptimizer passed point to evaluator by
reference. So our software could modify it on every step of algorithm.
In version 3.3, point is copied and then passed to evaluator, so it can
