Fixed installation related issues

CMakeLists.txt

@@ -270,21 +270,21 @@ SET(HDRS_CAPTURE
 SET(HDRS_FACTOR
   include/base/factor/factor_analytic.h
   include/base/factor/factor_autodiff.h
-  include/base/factor/factor_autodiff_distance_3d.h
+  include/base/factor/factor_autodiff_distance_3D.h
   include/base/factor/factor_base.h
   include/base/factor/factor_block_absolute.h
   include/base/factor/factor_container.h
-  include/base/factor/factor_corner_2d.h
+  include/base/factor/factor_corner_2D.h
   include/base/factor/factor_diff_drive.h
   include/base/factor/factor_epipolar.h
   include/base/factor/factor_fix_bias.h
-  include/base/factor/factor_odom_2d.h
-  include/base/factor/factor_odom_2d_analytic.h
-  include/base/factor/factor_odom_3d.h
-  include/base/factor/factor_pose_2d.h
-  include/base/factor/factor_pose_3d.h
+  include/base/factor/factor_odom_2D.h
+  include/base/factor/factor_odom_2D_analytic.h
+  include/base/factor/factor_odom_3D.h
+  include/base/factor/factor_pose_2D.h
+  include/base/factor/factor_pose_3D.h
   include/base/factor/factor_quaternion_absolute.h
-  include/base/factor/factor_relative_2d_analytic.h
+  include/base/factor/factor_relative_2D_analytic.h
   )
 SET(HDRS_FEATURE
   include/base/feature/feature_base.h
@@ -335,6 +335,7 @@ SET(HDRS_DTASSC
   include/base/association/association_node.h
   include/base/association/association_solver.h
   include/base/association/association_tree.h
+  include/base/association/matrix.h
   include/base/track_matrix.h
   )
 

include/base/factor/factor_autodiff_distance_3D.h

@@ -50,12 +50,7 @@ class FactorAutodiffDistance3D : public FactorAutodiff<FactorAutodiffDistance3D,
             Map<const Matrix<T,3,1>> pos2(_pos2);
             Map<Matrix<T,1,1>> res(_residual);
 
-            // If pos2 and pos1 are the same, undefined behavior when computing the jacobian
-            T norm_squared = ( pos2 - pos1 ).squaredNorm();
-            if (norm_squared < (T)1e-8){
-                norm_squared += (T)1e-8;
-            }
-            Matrix<T,1,1> dist_exp ( sqrt(norm_squared) );
+            Matrix<T,1,1> dist_exp ( sqrt( ( pos2 - pos1 ).squaredNorm() ) );
             Matrix<T,1,1> dist_meas (getMeasurement().cast<T>() );
             Matrix<T,1,1> sqrt_info_upper = getMeasurementSquareRootInformationUpper().cast<T>();