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/processor_motion.cpp

@@ -35,7 +35,11 @@ ProcessorMotion::~ProcessorMotion()
 
 void ProcessorMotion::process(CaptureBasePtr _incoming_ptr)
 {
-
+  if (_incoming_ptr == nullptr)
+  {
+    WOLF_ERROR("Process got a nullptr !");
+    return;
+  }
 
     if (status_ == IDLE)
     {