Add Sim3 constructor from scale, unit quaternion, and translation #362
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It would be convenient to allow directly constructing
Sim3from scale, unit quaternion, translation (e.g.,Sophus::Sim3d(scale, quat, trans)). The current best ways seem likeSim3d(RxSO3d(scale, SO3d(quat)), pos)orSim3d(Eigen::Quaterniond(quat.coeffs() * std::sqrt(scale)), trans), which may not obvious for novice users. Note thatRxSO3d(scale, quat)is not allowed because the SO3 constructor from quaternion is explicit.