Added close-formed jacobian for DLM perturbation cost. #224
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…rch#224) * Added close-formed jacobian for dlm perturbation cost. * Fix some dtype errors and add unit test to confirm that DLM runs with SE3 data. * Added unit test against original DLM implementation. * Added missing device for epsilon in DLM backward objective. * Renamed some string constants and added assert for type of dlm_epsilon. * Replaced assert with exception.
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Tested with 64-bit precision. 32-bit precision fails. We should address with #61.