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Updated external deps, minor bugfixes, obsolete code removed. #65

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Updated external deps, minor bugfixes, obsolete code removed.

Updated external deps, minor bugfixes, obsolete code removed. #65

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1 warning

inline function 'Eigen::MatrixBase<Eigen::Matrix<double, 3, 1>>::cross<Eigen::Matrix<double, 3, 1>>' is not defined [-Wundefined-inline]

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