Unit tests fail in Quaternion mode

[Frank Dellaert]

Luca do you have time to take a look - I can't see it. An extra pair of eyes might help :-)

[Frank Dellaert]

Issue #212 was marked as a duplicate of this issue.

[Frank Dellaert]

I'm taking a look myself. Probably faster

[Luca Carlone]

ok :-)

[Frank Dellaert]

I fixed a bug in traits<Quaternion>::Logmap. There are still three tests in testPose3 that fail (currently commented out), but I think that will occur also in Rot3M/EXPMAP mode, so not a Quaternion bug. I will create a new issue.

[Frank Dellaert]

Fixed in Pull Request #97