功能:求SE3中伴随矩阵

格式:SLAM_SE3_Adj(v)
v: 一个6*1或者1*6的矩阵变量,此时变量对应李代数的向量;此变量为4*4的矩阵变量时，对应李群的矩阵变量，此时不检查矩阵的旋转性质

说明:
1、程序执行成功返回6*6的SE3李群伴随矩阵


例子:
v =[1,2,3,0.1,0.2,0.6];
a = SLAM_SE3_Adj(pose)//回车得到如下结果
a =
[ 0.80674062507936   -0.55016937292156    0.21559968679396   -2.05125913857103   -2.16821795547389    2.14261427555627
  0.56949531041362    0.82123507819840   -0.03532757780174    2.54727730675956   -1.76696462510678   -0.01219589843304
 -0.15762187431777    0.15128320275412    0.97584257813492   -1.29532528408020    1.70677388138519   -0.47382418910709
  0.00000000000000    0.00000000000000    0.00000000000000    0.80674062507936   -0.55016937292156    0.21559968679396
  0.00000000000000    0.00000000000000    0.00000000000000    0.56949531041362    0.82123507819840   -0.03532757780174
  0.00000000000000    0.00000000000000    0.00000000000000   -0.15762187431777    0.15128320275412    0.97584257813492 ]