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

@@ -89,6 +89,7 @@ typedef Matrix<wolf::Scalar, 1, 1> Vector1s;                ///< 1-vector of rea
 typedef Matrix<wolf::Scalar, 2, 1> Vector2s;                ///< 2-vector of real Scalar type
 typedef Matrix<wolf::Scalar, 3, 1> Vector3s;                ///< 3-vector of real Scalar type
 typedef Matrix<wolf::Scalar, 4, 1> Vector4s;                ///< 4-vector of real Scalar type
+typedef Matrix<wolf::Scalar, 5, 1> Vector5s;                ///< 5-vector of real Scalar type
 typedef Matrix<wolf::Scalar, 6, 1> Vector6s;                ///< 6-vector of real Scalar type
 typedef Matrix<wolf::Scalar, 7, 1> Vector7s;                ///< 7-vector of real Scalar type
 typedef Matrix<wolf::Scalar, Dynamic, 1> VectorXs;          ///< variable size vector of real Scalar type