I have this function I need to build a Jacobian matrix for:

where p is a position vectors (x,y,z) and R(q) is the function converting a quaternion to a rotation matrix.

Note that in the function F, the rotation matrix is obtained from the conjugate of q, i.e. (q0, -q1, -q2, -q3).

The jacobian matrix I obtain for dH/dq is as follows: err.. can't post it here, the latex parser doesn't like it. Let's just say it's

However, I saw someone obtaining this jacobian by separating dF/dq into

where

The resulting jacobian is not the same as mine... it seems that

so which is right? i'm quite confused now. Either Mathematica is wrong, or that other guy has put some screwy math in his source code.

thanks,

Lwi