Centroidal Dynamics Factor: use gyro bias from gtsam::imuBias instead of CDMBiasCumulative bias

ami-iit / kindyn-vio

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GNU Lesser General Public License v3.0

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Closed prashanthr05 closed 2 years ago

prashanthr05 commented 2 years ago

Remove gyroscope bias from CDMBiasCumulative in order to reuse the bias state from gtsam::imuBias::ConstantBias.
Propagate relevant changes in Centroidal Dynamics Factor related classes.