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[refactoring][api] Standardize convention for pose formatting

Julia Sanchez requested to merge RPYXYZtoXYZRPY into master

For now, Ceres functions takes poses input as RPYXYZ but covariance is outputed as XYZRPY

  1. Goal
  • Make all poses and covariances in format "XYZRPY" all along the code
  1. Changes
  • Actualize CeresCostFunctions.h file to switch position and orientation in pose inputs
  • Actualize KeypointsRegistration startpose and endpose
  • Remove covariance switch
  1. Problem to merge
  • The CeresCostFunctions file is used outside this project with RPYXYZ convention...

@nicolas.cadart @nick.laurenson

Edited by Julia Sanchez

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