geometry
========

.. autofunction:: wrenfold.geometry.inverse_left_jacobian_of_so3

.. autofunction:: wrenfold.geometry.left_jacobian_of_so3

.. autoclass:: wrenfold.geometry.Quaternion
  :members:
  :special-members:
  :exclude-members: __dict__,__weakref__,__repr__,__getstate__,__setstate__