Resolve "Adapt to new generic factors API"

Closes #10 (closed)

include/bodydynamics/factor/factor_force_torque.h

@@ -36,11 +36,6 @@ class FactorForceTorque : public FactorAutodiff<FactorForceTorque, 9, 3,3,3, 3,3
 
         ~FactorForceTorque() override { /* nothing */ }
 
-        std::string getTopology() const override
-        {
-            return std::string("GEOM");
-        }
-
        /*
         _ck   : COM position in world frame, time k
         _cdk  : COM velocity in world frame, time k
@@ -97,6 +92,7 @@ FactorForceTorque::FactorForceTorque(
                             bool                    _apply_loss_function,
                             FactorStatus            _status) :
     FactorAutodiff("FactorForceTorque",
+                   TOP_GEOM,
                    _feat,
                     _frame_other,              // _frame_other_ptr
                     nullptr,                   // _capture_other_ptr