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Fix body frame jacobians
- #5
#5
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AkshayHinduja
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Fix body frame jacobians
#5
AkshayHinduja
wants to merge 6 commits into
scomup:main
scomup/point-cloud-registration:main
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AkshayHinduja:fix-body-frame-jacobians
AkshayHinduja/point-cloud-registration:fix-body-frame-jacobians
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Commits on Aug 11, 2026
ci: test the checked-out package, not the PyPI release
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fix: repair the no_parallel reference implementations (masking, gating)
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fix: ICP fast-path rotational gradient
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fix: retraction-consistent (body-frame) Jacobians in all solvers
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fix: second-order small-angle branch in expSO3
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fix: align() must not alias init_T
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