Problem about Jacobian computation in NavState::localCoordinates

[Dongsheng Hong]

In my reduction on Jacobian , I found there maybe an error about the computation In the line 146 of NavState.cpp file. I thought it should be *H1 << D_dR_R, Z3x3, Z3x3. If my reduction was wrong, can you provide your reduction on the computation of Jacobians.

[Frank Dellaert]

Unit-tested. D_xi_R is needed to implement Logmap chain rule