replace Affine --> Isometry

hello_wolf/factor_bearing.h

@@ -57,7 +57,7 @@ inline bool FactorBearing::operator ()(const T* const _p1, const T* const _o1,
 {
 
     // 1. produce a transformation matrix to transform from robot frame to world frame
-    Transform<T, 2, Affine> H_w_r = Translation<T,2>(_p1[0], _p1[1]) * Rotation2D<T>(*_o1) ; // Robot frame = robot-to-world transform
+    Transform<T, 2, Isometry> H_w_r = Translation<T,2>(_p1[0], _p1[1]) * Rotation2D<T>(*_o1) ; // Robot frame = robot-to-world transform
     // Map input pointers into meaningful Eigen elements
     Map<const Matrix<T, 2, 1>>      point_w(_p2);
     Map<const Matrix<T, 1, 1>>      res(_res);