How do I find the derivative (differential?) of the sandwich product of a rotor, with respect to the rotor?
Namely, given a rotor $R$, and vector $v$, what is $\frac{\text{d}}{\text{d}R}(Rv\tilde{R})$?
I've seen how this is done using matrix representations of quaternions, but I'd like to know how to do this staying in Geometric Algebra. I'd like the answer as a (multi?)vector.