Questions on the evaluation of derivatives or problems involving derivatives (for example, use of the mean value theorem).

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Derivative of quaternions

I am trying to calculate the Jacobian of a function that has quaternions and 3D points in it. I refer to quaternions as $q$ and 3D points as $p$ $$h_1(q)=A C(q)p $$ $$h_2(q)=q_1\otimes q \otimes q_2 $$...