Merge pull request #47 from ethz-asl/fix/correctQuaternionDisparityAngle

fixed and centralized the quaternion disparity angle computation
Added EIGEN_MAKE_ALIGNED_OPERATOR_NEW to vector
Merge pull request #48 from ethz-asl/feature/vector_align

Added EIGEN_MAKE_ALIGNED_OPERATOR_NEW to vector
SE3 prototype - hopefully according to current structure concept
- not complete
- not correct
- just to have something to discuss / (dis)agree on

New here : SO3 and T3 are seen as speceial cases of SE3 (subgroups) and therefore children!

(runs fine with non optimized but crashes currently with optimized code - no time to debug, right now)