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Implement option to pass gradient function for transformations #292

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@jhorzek

Currently, the gradients of the transformation function are numerically approximated. Providing an option to pass a gradient function may speed up the computation. The main drawback is that users would have to implement a jacobian matrix because the transformation function takes a vector as input and returns a vector.
For the time being I will leave this issue open until there is a practical use case where numerical approximations are too slow.

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