测试左右乘扰动

测试左乘扰动 右乘扰动的区别

测试结果：
扰动量越大 左右乘的差异越明显 扰动量越小 基本没差异

//测试左乘扰动 右乘扰动的区别
    
    Eigen::Quaterniond quart(0.9999862495139974,0.005014826896838862, 0.0008264610804482406, -0.0012919969843855261 );
    Sophus::SO3d so3(quart);

    Eigen::Vector3d update_so3(deltaValue, 0, 0); 
    Sophus::SO3<double> SO3_updated = so3 * Sophus::SO3<double>::exp(update_so3);

    Sophus::SO3<double> SO3_updatedleft = Sophus::SO3<double>::exp(update_so3)*so3;

    std::cout << "SO3_updated right : " << SO3_updated.log().x() << "," << SO3_updated.log().y() << "," << SO3_updated.log().z() << std::endl;
    std::cout << "SO3_updatedleft : " << SO3_updatedleft.log().x() << "," << SO3_updatedleft.log().y() << "," << SO3_updatedleft.log().z() << std::endl;

    Eigen::Quaterniond QuartOutright(SO3_updated.matrix());
    Eigen::Quaterniond QuartOutleft(SO3_updatedleft.matrix());


    std::cout << "QuartOutright : " << QuartOutright.x() << "," << QuartOutright.y() << "," << QuartOutright.z() <<  "," << QuartOutright.w() <<std::endl;
    std::cout << "QuartOutleft : " << QuartOutleft.x() << "," << QuartOutleft.y() << "," << QuartOutleft.z() <<  "," << QuartOutleft.w() <<std::endl;

    //结论：扰动量越大  左右乘的差异越明显  扰动量越小  基本没差异

    //扰动为1e-7
   //SO3_updated right : 0.0100298,0.00165293,-0.00258401
   //SO3_updatedleft : 0.0100298,0.00165293,-0.00258401
   //QuartOutright : 0.00501488,0.000826461,-0.001292,0.999986
   //QuartOutleft : 0.00501488,0.000826461,-0.001292,0.999986
   
   //扰动为1e-3
    //SO3_updated right : 0.0110297,0.00165164,-0.00258483
    //SO3_updatedleft : 0.0110297,0.00165422,-0.00258318
    //QuartOutright : 0.00551482,0.000825815,-0.00129241,0.999984
    //QuartOutleft : 0.00551482,0.000827107,-0.00129158,0.999984

    //扰动为1e-1
    /*SO3_updated right : 0.11003,0.00152248,-0.00266472
        SO3_updatedleft : 0.11003,0.0017809,-0.00249941
        QuartOutright : 0.054987,0.000760855,-0.00133169,0.998486
        QuartOutleft : 0.054987,0.000890001,-0.00124908,0.998486*/

    //扰动为1e-8
    //SO3_updated right : 0.0100297,0.00165293,-0.00258401
    //SO3_updatedleft : 0.0100297,0.00165293,-0.00258401
    //QuartOutright : 0.00501483,0.000826461,-0.001292,0.999986
    //QuartOutleft : 0.00501483,0.000826461,-0.001292,0.999986