Merge branch '10-factor-topologies' into 'devel'

Resolve "factor topologies"

Closes #10

See merge request !16

include/laser/factor/factor_container.h

@@ -45,6 +45,11 @@ class FactorContainer: public FactorAutodiff<FactorContainer,3,2,1,2,1>
 
     virtual ~FactorContainer() = default;
 
+    virtual std::string getTopology() const override
+    {
+        return std::string("LMK");
+    }
+
 		LandmarkContainerPtr getLandmark()
 		{
 			return lmk_ptr_.lock();

include/laser/factor/factor_point_2D.h

@@ -42,6 +42,11 @@ class FactorPoint2D: public FactorAutodiff<FactorPoint2D, 2,2,1,2,1,2>
 
     virtual ~FactorPoint2D() = default;
 
+    virtual std::string getTopology() const override
+    {
+        return std::string("LMK");
+    }
+
     /**
      * @brief getLandmarkPtr
      * @return

include/laser/factor/factor_point_to_line_2D.h

@@ -44,6 +44,11 @@ class FactorPointToLine2D: public FactorAutodiff<FactorPointToLine2D, 1,2,1,2,1,
 
     virtual ~FactorPointToLine2D() = default;
 
+    virtual std::string getTopology() const override
+    {
+        return std::string("GEOM");
+    }
+
     LandmarkPolyline2DPtr getLandmark()
     {
       return std::static_pointer_cast<LandmarkPolyline2D>( landmark_other_ptr_.lock() );