Resolve "Factory documentation"

Closes #299

See merge request !350

Resolve "Complete state vector new data structure?"

Closes #287

See merge request !366

Merge branch '287-quad-introduce-vector-composites-for-states-API' of ssh://gitlab.iri.upc.edu:2202/mobile_robotics/wolf_projects/wolf_lib/wolf into 287-quad-introduce-vector-composites-for-states-API

Merge branch '287-quad-introduce-vector-composites-for-states-API' of ssh://gitlab.iri.upc.edu:2202/mobile_robotics/wolf_projects/wolf_lib/wolf into 287-quad-introduce-vector-composites-for-states-API

Merge branch '287-quad-introduce-vector-composites-for-states-API' of ssh://gitlab.iri.upc.edu:2202/mobile_robotics/wolf_projects/wolf_lib/wolf into 287-quad-introduce-vector-composites-for-states-API

Merge branch '287-quad-introduce-vector-composites-for-states-API' of ssh://gitlab.iri.upc.edu:2202/mobile_robotics/wolf_projects/wolf_lib/wolf into 287-quad-introduce-vector-composites-for-states-API

All tests compile, 10 tests failing
	 18 - gtest_problem (Child aborted)
	 19 - gtest_processor_base (Child aborted)
	 20 - gtest_processor_motion (Child aborted)
	 31 - gtest_tree_manager (Failed)
	 35 - gtest_factor_block_difference (Child aborted)
	 36 - gtest_factor_diff_drive (Child aborted)
	 46 - gtest_processor_diff_drive (Child aborted)
	 47 - gtest_processor_loopclosure (Child aborted)
	 48 - gtest_odom_2d (Child aborted)
	 53 - gtest_tree_manager_sliding_window (Failed)

Adapt the signature of all the setPrior* methods to use
Composites instead of plain Eigen structures

Resolve "Copying measurement and sqrtinfo in FactorBase (multi-threading)"

Closes #335

See merge request !369

Merge remote-tracking branch 'origin/devel' into 287-quad-introduce-vector-composites-for-states-API