Feature/covariances

Changed the computation of covariances from implicit state size to tangent space size.

added 1 commit

• 6228a098 - Fixed gtest_problem

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added 8 commits

• 6228a098...c406ac3a - 7 commits from branch devel
• d846d12d - Merge branch 'devel' into feature/covariances

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enabled an automatic merge when the pipeline for d846d12d succeeds

merged

mentioned in commit 9d1d56ca

mentioned in issue #197 (closed)