[ImuFactor] tangent space Imu Factor

[bradley-solliday-skydio]

Don't bother reviewing this yet

At the moment, most of the work was done here by Hayk Martiros.
However, while moving changes around, it proved practical to
lose track of the original commit.

Topic: tangent_space_imu_factor
Relative: on_manifold_imu_factor_test
Labels: draft

[bradley-solliday-skydio]

Reviews in this chain:
└#279 [ImuFactor] Add an on manifold Imu Factor
　└#280 [ImuFactor] Unit test the on manifold ImuFactor
　　└#281 [ImuFactor] tangent space Imu Factor

[bradley-solliday-skydio]

#	head	base	diff	date	summary
0	02385e44	6b961703	diff	Dec 19 16:48 PM	11 files changed, 3446 insertions(+), 1 deletion(-)
1	8461a964	cbff03c3	rebase	Dec 20 1:09 AM	0 files changed
2	5b7973fa	74362513	diff	Dec 20 19:54 PM	1 file changed, 3 insertions(+), 2 deletions(-)
3	ecd00b30	c66a1560	rebase	Dec 21 0:49 AM	0 files changed
4	39d8d527	e0dc1941	rebase	Dec 21 2:12 AM	0 files changed
5	ca81d7f7	8b12cfb4	rebase	Dec 22 1:47 AM	0 files changed
6	cc680b08	4e8c4700	rebase	Jan 3 13:30 PM	0 files changed
7	745d61a4	acaa223d	diff	Jan 6 9:04 AM	2 files changed, 2 insertions(+), 11 deletions(-)
8	12ed02e9	eaac1763	rebase	Jan 6 9:51 AM	0 files changed
9	0c9453bd	b99759f7	rebase	Jan 6 12:23 PM	0 files changed
10	3c7c597a	fa0d4f8d	rebase	Jan 10 16:25 PM	0 files changed
11	7a6e5e1e	588dc03b	rebase	Jan 11 10:57 AM	0 files changed
12	77f4f310	ac8a8631	rebase	Jan 11 15:27 PM	0 files changed
13	4149bd79	abc44f74	rebase	Jan 11 15:33 PM	0 files changed
14	8d3dfa25	bce1cc61	rebase	Jan 11 18:31 PM	0 files changed
15	caa8e567	0bcdc34b	rebase	Jan 12 11:45 AM	0 files changed
16	0c35b124	6dc39abf	rebase	Jan 12 12:42 PM	0 files changed
17	3d0aa445	43b67655	rebase	Jan 12 16:23 PM	0 files changed
18	ab04eea0	6ed55ca6	diff	Jan 19 13:57 PM	3 files changed, 52 insertions(+), 48 deletions(-)
19	b7bc2671	fa5c8aef	rebase	Jan 19 18:41 PM	0 files changed
20	2c5751c8	dd8fe3ec	rebase	Jan 20 10:32 AM	0 files changed
21	43a4ceac	a741d8a6	rebase	Jan 25 10:12 AM	0 files changed
22	6a354ce5	90e5eeff	rebase	Jan 25 18:01 PM	0 files changed
23	bfa58d4c	628c1365	rebase	Jan 25 18:54 PM	0 files changed
24	3a9feef1	9e3c1fd8	rebase	Jan 25 19:26 PM	0 files changed
25	80770c6f	25e592a1	rebase	Jan 25 21:09 PM	0 files changed
26	552d5cd6	2e9523a2	diff	Jan 31 17:41 PM	1 file changed, 32 insertions(+), 12 deletions(-)
27	02c33173	11ea0008	rebase	Jan 31 17:53 PM	0 files changed
28	1c0f4c7b	82821709	rebase	Jan 31 17:57 PM	0 files changed
29	868278f3	df7fd0c5	rebase	Jan 31 18:02 PM	0 files changed
30	9ab6b5df	3be09c4d	rebase	Feb 1 14:33 PM	0 files changed