void apply_increment(Pose &obj, const double increment[SE3Type::num_parameters-1], const Adl&){
Eigen::Matrix3d R = obj.rotationMatrix();
v::apply_rotation(R, Eigen::Vector3d(increment[0], increment[1], increment[2]));
obj.data[0] = R(2, 1);
obj.data[1] = R(0, 2);
obj.data[2] = R(1, 0);
for (size_t i=3; i<6; ++i){
obj.data[i] += increment[i];
}
}
template<int I> void apply_small_increment(Pose &obj, double d, v::numeric_tag<I>, const Adl&){
if (I < 3){
Eigen::Matrix<double, 3, 3> R = obj.rotationMatrix();
if (I == 0) v::apply_small_rotation_x(R, d);
else if (I == 1) v::apply_small_rotation_y(R, d);
else if (I == 2) v::apply_small_rotation_z(R, d);
obj.data[0] = R(2, 1);
obj.data[1] = R(0, 2);
obj.data[2] = R(1, 0);
}
else{
obj.data[I] += d;
}
}
