Support dynamically sized matrices/vectors

[mherb]

No description provided.

[cailei77]

Are dynamically sized matrices/vectors supported by this excellent work now?

[mherb]

Dear @cailei77, currently there is no support for dynamically sized matrices, which is why this ticket is still open. I can also not give an estimate when support will be officially included. However, I believe it should be possible with a small number of changes to support dynamic matrices.

[prajval10]

Hi @mherb, thanks for this wonderful library. Could you provide what would be the 'small number of changes to support dynamic matrices'? Especially in my use-case, the state-vector is a constant size vector (6 DoF pose) whereas the size of the measurement vector changes.