Add mean() method for SE3 objects.
#167
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…an()` method for SO3 objects.
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This extends the mean functionality of SO3 objects to SE3 objects with a new method
SE3.mean(). Rotation is averaged using the Karcher mean implemented inSO3.mean()and translation is averaged arithmetically. There is no weighting implemented at this time.Some mods to the documentation for
SO3.mean()for consistency.