These had been commented out some time ago already.

Fixed duplicated data_ and data_covariance_ both in captureMotion and
CaptureOdom2D

wolf_manager: current_frame dins optimització sense contraints. wolf_problem: bug covarianca resize, ara resize state OK. constraint_sparse: ja no hi ha vector de punters a state_block perquè quan canvia al resize de wolf_problem no quedaven actualitzats. solver/cost_function*: classes per a construir problema des de les constraints operator() utilitzant Ceres::jet. test_ceres_2_lasers: OK amb els canvis. test_iQR_wolf: keep working.

Adding quaternion class, adapting sensor_* to allow 3D rotations and translations in the mounting point, bringing up some common orientation functions to StateOrientation, adding constants, ...

states units in sensor base (and constructors of derived), getting and setting covariance blocks and computing mahalanobis distance (in progress...)

canvis a odom capture afegint factor de soroll i no constant, canvis als cmakes i demés per instalació correcte i wolf_manager a arxiu propi

state_orientation and state_theta added, measurement and measurement_covariance in constraints now are references and adaptation to the iri_laser_scan_utils corner struct

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