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Eigen pred

Jeremie Deray requested to merge eigen_pred into master
  • Add dummy print gtest macro PRINT_TEST_FINISHED -> simply prints test & test-case name once test-case has finished.
  • Moved (well copied) MatrixSizeCheck to separate file & added VectorSizeCheck & RowVectorSizeCheck aliases
  • Add plenty of predicates (lambdas functions) to test Eigen-related things - e.g. later use in gtest test macro
  • Add a getYaw function to rotation.h

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