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[fix] Improve GetTworld function when pose has data

Tong Fu requested to merge fix/ImproveGetLastStates into master

  • Add a boolean argument trackTime.

    • trackTime is disabled by default since there is no need to track time when one wants to get the pose from extenal pose measurement at any time.
    • Enable the trackTime when the input time is between the two last states in the LogStates. It avoids to search the external pose in previous time.

  • When an external pose can not be found at the input time, do a linear interpolation.

  • Replace the pose computation in the GetLastStates function by GetTworld function.

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