Implement Equivariant Filter Bias example in Python

[jenniferoum]

An implementation of Alessandro Fornasier's ABC-EqF in GTSAM.

• EqF.py is a module containing general function and class definitions for the equivariant filter
• EqF.ipynb is a notebook containing an example implementation of the EqF code using sample data
• EqFdata.csv is sample measurement data provided by Fornasier in his ABC-EqF

[dellaert]

Awesome. Before I review, do you want to use the new “Hat” operators I added yesterday? (instead of wedge)

[dellaert]

gtsam/gtsam/geometry/geometry.i

Line 381 in 33d2262

static gtsam::Matrix Hat(const gtsam::Vector& xi);

[dellaert]

Also, csv file should go in examples/Data. You can then call FindExampleDataFile (or something like that, declared in datasets.h) - which will work across platforms.

[jenniferoum]

Yeah, I will work on adding in the new hat and vee operators.

[dellaert]

This is awesome! A few minor comments. I'll approve but will wait to merge until they have been addressed. (or tell me why you think it's ok to leave as is)