Lidar Map to Pose Interpolation #80
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…actors, correct convention of residuals
…xing a problem with the convention update, hopefully it is the only error
…de SE3vel. Not converging, needs debug
…ovide gradients. Created a well defined problem wit 3 points and a simple translation
…an. On test (toy example) performs better than first order approx of interpolating vias point
…, it creates problems in the CI
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