Added necessary files, adapting the functions in the API one by one, WIP

CMakeLists.txt

@@ -129,6 +129,9 @@ SET(HDRS_COMMON
 SET(HDRS_MATH
   include/IMU/math/IMU_tools.h
   )
+SET(HDRS_MATH
+  include/IMU/math/IMU_tools_Lie.h
+  )
 SET(HDRS_UTILS
   )
 SET(HDRS_CAPTURE
@@ -160,6 +163,9 @@ SET(SRCS_COMMON
 SET(SRCS_MATH
   include/IMU/math/IMU_tools.h
   )
+SET(SRCS_MATH
+  include/IMU/math/IMU_tools_Lie.h
+  )
 SET(SRCS_UTILS
   )
 

test/CMakeLists.txt

@@ -22,6 +22,9 @@ target_link_libraries(gtest_IMU ${PLUGIN_NAME} ${wolf_LIBRARY})
 wolf_add_gtest(gtest_IMU_tools gtest_IMU_tools.cpp)
 target_link_libraries(gtest_IMU_tools ${PLUGIN_NAME} ${wolf_LIBRARY})
 
+wolf_add_gtest(gtest_IMU_tools_Lie gtest_IMU_tools_Lie.cpp)
+target_link_libraries(gtest_IMU_tools_Lie ${PLUGIN_NAME} ${wolf_LIBRARY})
+
 wolf_add_gtest(gtest_processor_IMU_jacobians gtest_processor_IMU_jacobians.cpp)
 target_link_libraries(gtest_processor_IMU_jacobians ${PLUGIN_NAME} ${wolf_LIBRARY})