Adding logmap API which takes the object to the function argument

[ayushbaid]

The LieGroup supports Logmap (log-map of the argument at identity) as well as logmap (logmap of the element between the current object and the argument).

The logmap variant is present in gtsam.i, and hence not available in the python wrapper.

This PR adds the logmap function where-ever Logmap was defined.

Testing details: I build the gtsam library and python wrapper, and checked Rot3. As the change is similar in every place, it should work for all cases.

[ProfFan]

Awesome :)

[dellaert]

Will merge as we discussed LieXXX stuff in meeting

[varunagrawal]

Ummm this broke the Matlab wrapper.

I don't understand why logmap was added to LieMatrix and LieVector if they have been deprecated?
@ayushbaid

[dellaert]

How did it break the matlab wrapper?
And: if we deprecate LieXXX, we should do it forcefully. I talked to @ProfFan about it

[varunagrawal]

Apparently the logmap functions are not defined in the LieMatrix and LieVector classes.

/home/varun/borglab/gtsam/build/gtsam/wrap/gtsam/gtsam_wrapper.cpp: In function ‘void gtsamLieVector_logmap_193(int, mxArray**, int, const mxArray**)’:
/home/varun/borglab/gtsam/build/gtsam/wrap/gtsam/gtsam_wrapper.cpp:4328:32: error: ‘struct gtsam::LieVector’ has no member named ‘logmap’; did you mean ‘Logmap’?
 4328 |   out[0] = wrap< Vector >(obj->logmap(p));
      |                                ^~~~~~
      |                                Logmap
/home/varun/borglab/gtsam/build/gtsam/wrap/gtsam/gtsam_wrapper.cpp: In function ‘void gtsamLieMatrix_logmap_212(int, mxArray**, int, const mxArray**)’:
/home/varun/borglab/gtsam/build/gtsam/wrap/gtsam/gtsam_wrapper.cpp:4492:32: error: ‘struct gtsam::LieMatrix’ has no member named ‘logmap’; did you mean ‘Logmap’?
 4492 |   out[0] = wrap< Vector >(obj->logmap(p));
      |                                ^~~~~~
      |                                Logmap

[ayushbaid]

So should I remove this from LieMatrix and LieVector for the time being? Before we can figure out the deprecation possibility for these 2 classes?

[varunagrawal]

I made a PR since it was quick and I need this to work for another PR.

@ayushbaid can you please take a look at it? It should be quick :)