These IMU factors were not fully using fixed eigen magic. They still don't, after this pull request, will be even better after @nsrinivasan7 does the derivatives. Please review...
@KrunalChande check AHRS factor ?
@lucacarlone disturbing lack of high level documentation, and large amount of copy/paste. Think about how to fix when moving to cpp file as in AHRS factor.
These IMU factors were not fully using fixed eigen magic. They still don't, after this pull request, will be even better after @nsrinivasan7 does the derivatives. Please review...
@KrunalChande check AHRS factor ?
@lucacarlone disturbing lack of high level documentation, and large amount of copy/paste. Think about how to fix when moving to cpp file as in AHRS factor.