When constructing Transform objects with scalar of type ceres::Jet, some of the accessors fail and return nan.

An example from our code:


typedef ceres::Jet<double, 28> T;  
typedef Eigen::Transform<T, 3, Eigen::Affine> TransformType;
      
Eigen::Matrix<T,3,1>  _wtr1, _wtr2, _rtc;
Eigen::Quaternion<T> _wqr1, _wqr2, _rqc;

TransformType wHr1 = Eigen::Translation<T, 3>(_wtr1) * _wqr1;
TransformType wHr2 = Eigen::Translation<T, 3>(_wtr2) * _wqr2;
TransformType rHc  = Eigen::Translation<T, 3>(_rtc)  * _rqc ;

TransformType c1Hc2 = rHc.inverse() * wHr1.inverse() * wHr2 * rHc;

// These accesses are OK
std::cout << c1Hc2.matrix() << std::endl;               // OK
std::cout << c1Hc2.inverse().matrix() << std::endl;     // OK
std::cout << c1Hc2.rotation().transpose() << std::endl; // OK

// These accesses are not OK and produce all nans type `[nan ; nan nan ...]`
std::cout << c1Hc2.inverse().rotation() << std::endl;             // nan's
std::cout << c1Hc2.inverse().rotation().transpose() << std::endl; // nan's