Wolfgang,

Interesting that this isn't even mentioned in the introduction to that 
> program, or anywhere else, for that matter. How did you find out? 
>
A major part of my PhD thesis is based on these projection methods.
Reading the literature this seems to be the first paper in which the 
rotational incremental
form has been considered.
 

> It's probably worthwhile adding this reference somewhere. I can do that if 
> you 
> want me to. 
>
I will create a PR next week including some more references to the analysis 
for that scheme.

Best,
Daniel

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