Feature/se3vel rebased #57
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There might be a problem on the ordering of the Lie coordinates to be [theta, v, pho]. Let's discuss more later |
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There are a couple of things left, but they can be finished later. See issue #60 |
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Extended SE3 group added according to the Brossard paper "Associating Uncertainty to Extended Poses for on
Lie Group IMU Preintegration with Rotating Earth"
This is a continuation of PR#5 after rebasing to current master.