Method for better-conditioned quaternion-based cost errors#25

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ebianchi wants to merge 9 commits intomainfrom

eric/add_quaternion_costs

Commits on Oct 17, 2025

Commits on Oct 22, 2025

Added small angle difference test
cuie23
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Commits on Oct 23, 2025

Fix broken other examples due to adding new C3 controller parameters; fix formatting
ebianchi
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