Kinematic Error Chain

[Capprin]

Adds:

• AlgebraElement.m
  • Class definition for Lie Algebra elements in SE(2) or SE(3)
  • Convenience methods for working with AlgebraElements
  • Conversions to GroupElements
• GroupElement.m
  • Class definition for Lie Group elements in SE(2) or SE(3)
  • Convenience methods for working with GroupElements
  • Conversions to AlgebraElements
• BCH.m
  • Computes Baker-Campbell-Hausdorff for two AlgebraElements, up to four terms
• BCH_n_elements.m
  • Computes Baker-Campbell-Hausdorff for an arbitrary number of elements, up to four terms
• error_chain.m
  • Generalizes definition of kinematic chains (Using AlgebraElement, GroupElement)
  • Accepts symvars
  • Computes approximation (and propagation) of error terms from joints to the end effector
  • Returns:
    • Expected error terms
    • Error approximation polynomials
    • Nominal configuration
    • Jacobians
• error_chain_test.m
  • Does unit testing of input sanitization
  • Qualitative tests for behavior