Kinematic Error Chain - #104

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Capprin:kinematic-error

Commits on Mar 23, 2021

Added abstractions for Lie Group/Algebra elements in SE(2), SE(3)
Capprin
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09eb170
Added T.S. approx. for AlgebraElements
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5b36b94
Added constant transforms for GroupElement
Capprin
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b81d38c
Added BCH and BCH for arbitrary elements
Capprin
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f4eba97
Added partially complete error chain; yet to split into components
Capprin
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ee48c2b
Added Test directory, and basic error_chain tests
Capprin
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dee1448
Added matrix to vector convenience methods; made naming more consistent
Capprin
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84115fe
Added 'truncate_to' term for finer error control; added default outputs (J, configurations)
Capprin
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e0ef6c3
Added qualitative tests for error_chain behavior
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fcc7e3d

Commits on Mar 29, 2021

Added dynamic_error_chain for output plotting
Capprin
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1ea29db