功能:由SE3中李代数向量转矩阵变量

格式:SLAM_SE3_VtoT(v)
v: 一个6*1或者1*6的矩阵变量,其中变量的后3个元素对应旋转

说明:
1、程序执行成功返回4*4的SE3李群矩阵


例子:
v =[1,2,3,0.1,0.2,0.6];
t = SLAM_SE3_VtoT(pose)//回车得到如下结果
t =
[ 0.80674062507936   -0.55016937292156    0.21559968679396    0.68071996810752
  0.56949531041362    0.82123507819840   -0.03532757780174    2.08616259216745
 -0.15762187431777    0.15128320275412    0.97584257813492    3.02449247459293
  0.00000000000000    0.00000000000000    0.00000000000000    1.00000000000000 ]