Utilize Ceres Local Parameterization

[marip8]

@schornakj found documentation on ceres local parameterization that can help with the over-parameterization of optimization problems. We should look into removing the custom Pose6D helper structures in favor of using ceres quaternion local parameterization and product local parameterization. This would reduce the amount of translating to/from eigen objects code and would reduce overall code maintenance

[marip8]

@drchrislewis noted that the default Ceres local parameterization functions appear to use numeric differentiation to calculate the Jacobian. We would prefer to use local paramterization with auto differentiation for improved accuracy and speed. Ceres provides examples of a few local parameterizations using auto differentiation here