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doc/gtsam-coordinate-frames.lyx

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 Noise models of prior factors
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 The simplest way to describe noise models is by an example.
  Let's take a prior factor on a 3D pose 
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 The density induced by a noise model on the prior factor is Gaussian in
  the tangent space about the linearization point.
  Suppose that the pose is linearized at 
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 This means that to draw random pose samples, we actually draw random samples
  of 
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 Noise models of between factors
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 The noise model of a BetweenFactor is a bit more complicated.
  The unwhitened error is
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