Reduce Eigen/Dense to Eigen/Core in sophus/rotation_matrix.hpp #532
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Eigen/DensecontainsEigen/Core,Eigne/Geometry,SVD, etc, which is much expensive to include.By reducing
Eigen/DensetoEigen/Coreinsophus/rotation_matrix.hpp, we can avoid unnecessary headers when usingse3.hpp,so3.hpp, orrotation_matrix.hpp. This would help to reduce compilation time for Sophus' users with a large codebase.