Merge branch 'imu_preintegration_Lie' of ssh://gitlab.iri.upc.edu:2202/mobile_robotics/wolf_projects/wolf_lib/plugins/imu into imu_preintegration_Lie

Merge branch 'imu_preintegration_Lie' of https://gitlab.iri.upc.edu/mobile_robotics/wolf_projects/wolf_lib/plugins/imu into imu_preintegration_Lie

Add const

See merge request !11

Capture motion

See merge request !12

The test does not pass at all and is not included in the CMakeLists.txt for compilation anyway.

Resolve "Remove interpolate()"

Closes #5

See merge request !10