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/CMakeLists.txt

@@ -190,6 +190,7 @@ SET(HDRS_BASE
     constraint_analytic.h
     constraint_autodiff.h
     constraint_base.h
+    eigen_assert.h
     factory.h
     feature_base.h
     feature_match.h