[ImuFactor] Add an on manifold Imu Factor

[bradley-solliday-skydio]

Unit testing is left to a follow up commit.

The core use-facing api is found in

• symforce/slam/imu_preintegration/preintegrated_imu_measurements.h
• symforce/slam/imu_preintegration/imu_factor.h

Unlike most other factors (/residual functions) in symforce, the ImuFactor is a functor so as to store the pre-integrated values with the function rather than in the Values. (There are a lot of parameters that are constant and unique to each factor).

A python version of the ImuFactor class will come in a subsequent commit.

Topic: on_manifold_imu_factor

[bradley-solliday-skydio]

Reviews in this chain: └https://github.com/symforce-org/symforce/pull/279 [ImuFactor] Add an on manifold Imu Factor 　└https://github.com/symforce-org/symforce/pull/280 [ImuFactor] Unit test the on manifold ImuFactor 　　└https://github.com/symforce-org/symforce/pull/281 [ImuFactor] tangent space Imu Factor

[bradley-solliday-skydio]

#	head	base	diff	date	summary
0	b58932b1	1c44a943	diff	Dec 19 16:48 PM	17 files changed, 12543 insertions(+)
1	cb930c9d	1c44a943	diff	Dec 20 1:09 AM	7 files changed, 7430 insertions(+), 7384 deletions(-)
2	c75ca927	1c44a943	diff	Dec 20 19:54 PM	10 files changed, 7587 insertions(+), 7503 deletions(-)
3	ac03a31b	1c44a943	diff	Dec 21 0:49 AM	8 files changed, 5671 insertions(+), 8077 deletions(-)
4	6a10ac05	1c44a943	diff	Dec 21 2:12 AM	3 files changed, 11 insertions(+), 5 deletions(-)
5	d1c3e651	1c44a943	diff	Jan 3 13:30 PM	9 files changed, 7432 insertions(+), 7904 deletions(-)
6	49a9c23d	474f1bd5	diff	Jan 6 9:04 AM	12 files changed, 144 insertions(+), 5942 deletions(-)
7	cd66203d	474f1bd5	diff	Jan 6 9:51 AM	2 files changed, 6 insertions(+), 6 deletions(-)
8	164c5e3e	474f1bd5	diff	Jan 6 12:23 PM	4 files changed, 15 insertions(+), 17 deletions(-)
9	d7d5a05f	474f1bd5	diff	Jan 10 16:25 PM	8 files changed, 119 insertions(+), 19 deletions(-)
10	6e00ec4f	474f1bd5	diff	Jan 11 10:57 AM	2 files changed, 17 insertions(+), 6 deletions(-)
11	a74eae62	474f1bd5	diff	Jan 11 15:27 PM	5 files changed, 707 insertions(+), 692 deletions(-)
12	91255e99	474f1bd5	diff	Jan 11 15:33 PM	1 file changed, 2 deletions(-)
13	0fe0e7e5	474f1bd5	diff	Jan 11 18:31 PM	1 file changed, 4 insertions(+), 2 deletions(-)
14	e311bc4e	474f1bd5	diff	Jan 12 11:45 AM	13 files changed, 1060 insertions(+), 1019 deletions(-)
15	7970c6f0	474f1bd5	diff	Jan 12 12:42 PM	2 files changed, 4 insertions(+), 4 deletions(-)
16	63a4d237	474f1bd5	diff	Jan 12 16:23 PM	1 file changed, 1 insertion(+), 1 deletion(-)
17	9630e6b6	4c368815	diff	Jan 19 13:57 PM	10 files changed, 101 insertions(+), 40 deletions(-)
18	fa8474dd	4c368815	diff	Jan 19 18:41 PM	1 file changed, 2 insertions(+), 2 deletions(-)
19	9c6f3d96	4c368815	diff	Jan 20 10:32 AM	5 files changed, 633 insertions(+), 663 deletions(-)
20	b75e14bf	4c368815	diff	Jan 25 10:12 AM	3 files changed, 85 insertions(+), 85 deletions(-)
21	50a2f1da	4c368815	diff	Jan 25 21:09 PM	1 file changed, 1 insertion(+)
22	a83f3772	4c368815	diff	Jan 31 17:41 PM	4 files changed, 1022 insertions(+), 65 deletions(-)
23	111652d9	4c368815	diff	Jan 31 17:53 PM	2 files changed, 12 insertions(+), 7 deletions(-)
24	615a9a36	4c368815	diff	Jan 31 17:57 PM	1 file changed, 13 insertions(+), 11 deletions(-)
25	deda3fc9	4c368815	diff	Feb 1 14:33 PM	2 files changed, 7 insertions(+), 7 deletions(-)

[aaron-skydio]

Noting previous comments are here: https://github.com/bradley-solliday-skydio/symforce/pull/48

[aaron-skydio]

Still waiting on this one: https://github.com/symforce-org/symforce/pull/279/files#r1088224485