Automatically export Sophus for use in other programs without needing a Find script

Signed-off-by: Steven Lovegrove <stevenlovegrove@gmail.com>
Small SE3 convenience methods

Signed-off-by: Steven Lovegrove <stevenlovegrove@gmail.com>
Updated uint to unsigned int for portability

Signed-off-by: Steven Lovegrove <stevenlovegrove@gmail.com>
Convenience method for constructing SE3 object from 4x4 matrix

Signed-off-by: Steven Lovegrove <stevenlovegrove@gmail.com>
Merge

Signed-off-by: Steven Lovegrove <stevenlovegrove@gmail.com>
non-const quaternion accessor.

Signed-off-by: Steven Lovegrove <stevenlovegrove@gmail.com>
Templated SO3 / SE3 on Scalar type. All methods now inlined. Toward making library compatible with autodiff types.

Signed-off-by: Steven Lovegrove <stevenlovegrove@gmail.com>
Converted SO3 to Eigen style CRTP hierarchy.

Signed-off-by: Steven Lovegrove <stevenlovegrove@gmail.com>
Converted SE3 to Eigen style CRTP hierarchy.

Signed-off-by: Steven Lovegrove <stevenlovegrove@gmail.com>
Specialisation of Eigen::Map for SO3 / SE3 types. They can now wrap POD arrays for interfacing with external libraries.

Signed-off-by: Steven Lovegrove <stevenlovegrove@gmail.com>
Add SO3/SE3 cast methods. Made more autodiff friendly.

Signed-off-by: Steven Lovegrove <stevenlovegrove@gmail.com>
Fix the unit test that I broke.

Signed-off-by: Steven Lovegrove <stevenlovegrove@gmail.com>
Add data member accessors.

Signed-off-by: Steven Lovegrove <stevenlovegrove@gmail.com>
Make exp and log a little more jet friendly by avoiding sqrts.

Signed-off-by: Steven Lovegrove <stevenlovegrove@gmail.com>
merge including 'template' keyword-fix so it compiles under MacOsX
SO3/SE3: unify/change formating
SO3 assigment operator returns *this now
remove se3/so3 class remainings
static_cast instead of C-style cast, also unify/change formating in so3.h
SO3/SE3: return 'const T' instead of 'T' to avoid user errors such as 'R1*R2 = R3;'