divenire

and the same problem in $SE_2(3)$, https://github.com/artivis/manif/blob/ad00494251d8ee2d16c3d3b82a65757c94fc48ec/examples/se_2_3_localization.cpp#L366-L383 also here J_u_x seems have bugs, i derive here and it seems work fine , i don't get why here is difference with...

the `X = X.plus(u_est, J_x, J_u);` is rplus here ,and `j_x` corresponds to `J_mout_m `, which is `t.rjac();` as $J_r(u_{est})$ here https://github.com/artivis/manif/blob/ad00494251d8ee2d16c3d3b82a65757c94fc48ec/include/manif/impl/lie_group_base.h#L465-L479