Manage deps with convenience library
Discrete EKF for transform filtering
Assumed shape arrays for quaternion matrices
Refactor Kalman Filters

* Split several KF/EKF computations into separate functions
* Call from the dual-quaternion filter
General EKF functions
Fix matrix counts
Pose only TF KF
Estimate velocities in duqu KF
QuatVec KF
Fixup matrices in quat-vec KF
Refactor quaternion-translation KF using general EKF driver
Symmetric matrix optimization
Compute Kalman gain w/o explicit inverse
Compute KF gain via Cholesky
Some docs
Basic kinematics generator code
Relative to absolute transforms
Generate TF files
Generated TF compiles
Generate prototypes