SE3 examples

[g-ferrer-sk]

create a clean version

[g-ferrer-sk]

Let's add more cases and examples for So3 and SE3

[g-ferrer-sk]

Also, you can show the usage of help(mrob.geometry)

[anastasiia-kornilova]

I would expect something like this, both combining short theory notices and code that demonstrates how to apply this with our library -- https://github.com/MichaelGrupp/evo/blob/master/notebooks/metrics.py_API_Documentation.ipynb