Miscellaneous

• Export missing factory.h header
• couple of emplace_back rather than push_back
• some const reference
• Vector5s & Affine3ds types
• WOLF_ASSERT_COVARIANCE_MATRIX assert macro & helper functions
• check for some nullptr

src/wolf.h

@@ -102,6 +102,8 @@ typedef Matrix<wolf::Scalar, 1, Dynamic> RowVectorXs;       ///< variable size r
 typedef Quaternion<wolf::Scalar> Quaternions;               ///< Quaternion of real Scalar type
 typedef AngleAxis<wolf::Scalar> AngleAxiss;                 ///< Angle-Axis of real Scalar type
 typedef Rotation2D<wolf::Scalar> Rotation2Ds;               ///< Rotation2D of real Scalar type
+
+typedef Transform<wolf::Scalar,3,Affine> Affine3ds;         ///< Affine3d of real Scalar type
 }
 
 namespace wolf {