Merge remote-tracking branch 'origin/devel' into gnss

Conflicts:
	CMakeLists.txt
	include/base/ceres_wrapper/cost_function_wrapper.h
	include/base/constraint/constraint_autodiff.h
	include/base/constraint/constraint_autodiff_distance_3D.h
	include/base/constraint/constraint_autodiff_trifocal.h
	include/base/constraint/constraint_diff_drive.h
	include/base/constraint/constraint_point_2D.h
	include/base/constraint/constraint_point_to_line_2D.h
	include/base/constraint/constraint_pose_3D.h
	include/base/landmark/landmark_polyline_2D.h
	include/base/processor/processor_tracker_feature.h
	include/base/processor/processor_tracker_feature_corner.h
	include/base/processor/processor_tracker_feature_dummy.h
	include/base/processor/processor_tracker_feature_image.h
	include/base/processor/processor_tracker_feature_trifocal.h
	include/base/processor/processor_tracker_landmark.h
	include/base/processor/processor_tracker_landmark_corner.h
	include/base/processor/processor_tracker_landmark_dummy.h
	include/base/processor/processor_tracker_landmark_image.h
	include/base/track_matrix.h
	src/ceres_wrapper/ceres_manager.cpp
	src/landmark/landmark_polyline_2D.cpp
	src/processor/processor_diff_drive.cpp
	src/processor/processor_odom_2D.cpp
	src/processor/processor_tracker.cpp
	src/processor/processor_tracker_feature_corner.cpp
	src/processor/processor_tracker_feature_dummy.cpp
	src/processor/processor_tracker_feature_image.cpp
	src/processor/processor_tracker_feature_trifocal.cpp
	src/processor/processor_tracker_landmark_corner.cpp
	src/processor/processor_tracker_landmark_dummy.cpp
	src/processor/processor_tracker_landmark_image.cpp
	src/solver/solver_manager.cpp
	src/track_matrix.cpp
	src/yaml/processor_tracker_feature_trifocal_yaml.cpp
	test/CMakeLists.txt
	test/gtest_constraint_autodiff_trifocal.cpp
	test/gtest_processor_tracker_feature_trifocal.cpp