feature/numericalHessian

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feature/numericalHessian
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250+ commits behind develop.
Frank Dellaert
Changes underway
Frank Dellaert
Don't need the Vector6-specific function...
Frank Dellaert
Current numericalHessian is asymmetric, Lie-algebra version works with expmap, but second derivatives appear to be zero for retract: it seems that it is only the coupling between rotation and translation that causes the second derivatives to be non-zero.
Frank Dellaert
Translation unit test to assess asymmetrix Hessian problem
Frank Dellaert
Added a unit test with Thomas, cleaned up a bit