add some common accessors
Changes to feature/pose
Merge branch 'master' of github.com:KumarRobotics/kr_math
Added new constructor to pose
Improved documentation in Pose, added helper vec/mat templates. Also renamed 'compose' to 'composeBody' for clarity. Added code to convert from GTSAM to krpose.
Added cast to ros pose
Merging changes
Changed convention of quaternion in Pose, updated triangulate and refine to match, disambiguated a couple of things in pose
Changed convention in Pose, and updated feature. Updated documentation to match. Made p and q into private member variables, removed gtsam header
Added transform body method to Pose