Update NavState Printing

[varunagrawal]

Update the printing of NavState so it is easier to read.

Example:

NavState s;
cout << s << endl;

Before:

R: [
	1, 0, 0;
	0, 1, 0;
	0, 0, 1
]
p: 0
0
0
v: 0
0
0

After:

R: [
	1, 0, 0;
	0, 1, 0;
	0, 0, 1
]
p: 0 0 0
v: 0 0 0

[dellaert]

Not in favor of this. We moved to Vector2 and Vector3 for these classes. Does not make sense to do something different from Eigen here. Other code should deal with Eigen way of printing by calling transpose...

[varunagrawal]

So this change actually affects Vector2 and Vector3 directly. Why not just update the transpose at the source rather than have .transpose() calls littered everywhere?

[dellaert]

So this change actually affects Vector2 and Vector3 directly. Why not just update the transpose at the source rather than have .transpose() calls littered everywhere?

What about Vector4, Vector5? Spirit of my comment is: Eigen is Eigen, not some weird hybrid we create on top of it.

[varunagrawal]

Fair enough. I'll update this PR to only change the printing of NavState then. 🙂

[dellaert]

yay!