Expand `MultivariateNormalDistribution` to SE3
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serraramiro1 commented
Feature description
We need a SE3 variant so that we can use this to:
- Initialize SE3 particles given an initial pose and a covariance
- Possibly as part of the implementation of the 3D variant of
OmnidirectionalDriveModel
Implementation considerations
Coming up with a proper normally distributed rotation in SO3 is specially complicated. There's already been some discussion in #298 (comment).