Clarify difference between MatrixBasic and MatrixTransform and deduplicate if necessary
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HannesSommer commented
Why was MatrixBasic introduced? (merged into master with PR #184).
The original changes in ethz-asl/kalibr@14ad701 (e.g. ethz-asl/kalibr@14ad701#diff-4f44efeba0f2dd1025780c452cb69fa2L314 ) indicate that it does basically the same as the MatrixTransform. If that is true, we should not have both.