Sophus (version 0.9a)

C++ implementation of Lie Groups using Eigen.

Thanks to Steven Lovegrove, Sophus is now fully templated  - using the Curiously Recurring Template Pattern (CRTP).

(In order to go back to the non-templated/double-only version "git checkout a621ff".)

Installation guide:
```
cd Sophus
mkdir build
cd build
cmake ..
make
#Make doxygen files
make doc
```