Eigen pred

• Add dummy print gtest macro PRINT_TEST_FINISHED -> simply prints test & test-case name once test-case has finished.
• Moved (well copied) MatrixSizeCheck to separate file & added VectorSizeCheck & RowVectorSizeCheck aliases
• Add plenty of predicates (lambdas functions) to test Eigen-related things - e.g. later use in gtest test macro
• Add a getYaw function to rotation.h

src/test/utils_gtest.h

@@ -71,6 +71,14 @@ extern void ColoredPrintf(GTestColor color, const char* fmt, ...);
   testing::internal::ColoredPrintf(testing::internal::COLOR_YELLOW, __VA_ARGS__); } \
   while(0)
 
+#define PRINT_TEST_FINISHED \
+{ \
+  const ::testing::TestInfo* const test_info = \
+    ::testing::UnitTest::GetInstance()->current_test_info(); \
+  PRINTF(std::string("Finished test case ").append(test_info->test_case_name()).\
+          append(" of test ").append(test_info->name()).append(".\n").c_str()); \
+}
+
 // C++ stream interface
 class TestCout : public std::stringstream
 {