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Factors refactor

Related to #121 (closed).

  • Remove double and template pointers API:
    • Remove bool evaluate(double const* const* _parameters, double* _residuals, double** _jacobians) const if possible
    • Design new API for FactorAutodiff. Move from weird operator(...) to bool residual(const std::vector<const double*>& _states_ptr, Eigen::VectorXd& _residual) but templatized to T instead of double (analogous to evaluate() without returning Jacobians).
  • New virtual method in FactorBase::expectation(const std::vector<const double*>& _states_ptr) (its implementation is already coded within operator() / evaluate() in all factors.). In some cases, it is already implemented with a different API, move to this.
  • Refactor FactorAutodiff, most probably with this API, no template specialization will be required.