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Update literature.md
Update using_manifolds.md
consolidating simpleICP with PCL types
update docs and some refactoring of ICP code
Codecov Report
@@ Coverage Diff @@
## release/v0.13 #888 +/- ##
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+ Coverage 16.40% 21.42% +5.02%
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Files 48 50 +2
Lines 2828 3010 +182
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+ Hits 464 645 +181
- Misses 2364 2365 +1
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