* cmake: sync submodule

* cmake: sync submodule

ROS2 release support

Fix weird test failure on Conda

This test was producing weird behavior on Conda

CMake: update to eigenpy 2.7.10

ROS2/Colcon integration

cmake: modernize header-only lib

cmake: relocatable package for recent CMake versions

Add header only target

Co-authored-by: Justin Carpentier <justin.carpentier@inria.fr>

cmake/utils: no need for python here

add cheat sheet to doc

SO3 diff impl use quaternion instead of rotation matrix

Le Quang Anh authored Jul 02, 2022 and Justin Carpentier committed Jul 03, 2022

For implementation of difference between two SO3 values, it is more
accurate to use quaternion multiplication instead of the corresponding
rotation matrix form.

However, with the new diff_impl, integrate(q0, difference(q0,q1)) is less
similar to the expected result q1. This is probably because the current
implementation of integrate also suffers from floating point error. The
threshold for the integrate_difference_test needs to be changed slightly
to accommodate the new implementation of difference.