removed header bloat and added reference comment for fpEqual implementation

gtsam/base/Matrix.h

@@ -17,6 +17,7 @@
  * @author  Frank Dellaert
  * @author  Alex Cunningham
  * @author  Alex Hagiopol
+ * @author  Varun Agrawal
  */
 
 // \callgraph

gtsam/base/Vector.cpp

@@ -34,7 +34,11 @@ using namespace std;
 
 namespace gtsam {
 
-/* ************************************************************************* */
+/* *************************************************************************
+ * References:
+ * 1. https://randomascii.wordpress.com/2012/02/25/comparing-floating-point-numbers-2012-edition/
+ * 2. https://floating-point-gui.de/errors/comparison/
+ * ************************************************************************* */
 bool fpEqual(double a, double b, double tol) {
   using std::abs;
   using std::isnan;

gtsam/base/Vector.h

@@ -27,9 +27,7 @@
 
 #include <gtsam/global_includes.h>
 #include <Eigen/Core>
-#include <cmath>
 #include <iosfwd>
-#include <limits>
 #include <list>
 
 namespace gtsam {