Frame/Capture/Feature/Landmark Other as list/vectors in FactorBase

Right now, the constructor of FactorBase is this:

FactorBase(const std::string& _tp, const FrameBasePtr& _frame_other_ptr, const CaptureBasePtr& _capture_other_ptr, const FeatureBasePtr& _feature_other_ptr, const LandmarkBasePtr& _landmark_other_ptr, const ProcessorBasePtr& _processor_ptr, bool _apply_loss_function, FactorStatus _status = FAC_ACTIVE)<code>

However, some actually constrain more than one X_other. For instance in factor_autodiff_trifocal, only one of the feature is selected as being "the" feature_other. I have the same problem in plugin bodydynamics and this breaks the Problem::check function (stablocks NOT FOUND).

If propose using lists or vectors instead:

FactorBase(const std::string& _tp, const std::list<FrameBasePtr>& _frame_other_list_ptr, const std::list<CaptureBasePtr>& _capture_other_list_ptr, const std::list<FeatureBasePtr>& _feature_other_list_ptr, const std::list<LandmarkBasePtr>& _landmark_other_list_ptr, const ProcessorBasePtr& _processor_ptr, bool _apply_loss_function, FactorStatus _status = FAC_ACTIVE);<code>

changed the description

added Agreement required enhancement labels

A call to the constructor would be I think like this

FactorBase("type", 
           {frame1, frame2, frame3}, // list of frame_other 
           {cap1, cap2, cap3},       // list of capture_other
           {fea1, fea2, fea3},       // ... etc
           {lmk1, lmk2, lmk3}, 
           processor_ptr, 
           _apply_loss_function, 
           _status);

created merge request !346 (merged) to address this issue

mentioned in merge request !346 (merged)

assigned to @jsola

added ~209 label and removed Agreement required label

mentioned in issue #296 (closed)

closed via merge request !346 (merged)

mentioned in commit 89f00c17