Optimization on the essential manifold

Set of routines for performing optimization on the essential manifold, using the parametrization as a quotient
manifold of $SO(3) \times SO(3)$, where $SO(3)$ is the manifold of 3-D rotations. These routines are offered as part of the Matlab toolbox ManOpt. The first implementation of the software is provided as a reference. The essential manifold is directly provided as ManOpt package since version 2.0.