Use LieGroups.MetricLieGroup and other pose related updates#792
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| a_m = exp(M, getPointIdentity(M), aX) | ||
| b_m = ArrayPartition(a_m.x[1], bRa * a_m.x[2]) | ||
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| q̂ = LieGroups.compose(M, p, b_m) | ||
| return vee(M, q, log(M, q, q̂)) # coordinates |
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This had the known bug (fixed in Pose3Pose3) with the covariance not in the same tangent as the measurement. The rotation offset was also treated as a product manifold, but it is more useful to use SE(3)
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