Diff drive 2

This PR is on top of branch dynamic_sensor_param thus I'm pushing there.
It replaces !93 (closed) and is ready for review.

• add CaptureVelocity
• add CaptureWheelJointPosition
• add SensorDiffDrive
• add ProcessorDiffDrive
• add FeatureDiffDrive
• add ConstraintDiffDrive

Added also an example with data : $ ./test_processor_diff_drive path/to/wolf/src/test/data/diff_drive/wheel_data.dat 1.

src/examples/CMakeLists.txt

@@ -155,6 +155,10 @@ TARGET_LINK_LIBRARIES(test_processor_tracker_landmark ${PROJECT_NAME})
 ADD_EXECUTABLE(test_processor_imu test_processor_imu.cpp)
 TARGET_LINK_LIBRARIES(test_processor_imu ${PROJECT_NAME})
 
+# Processor Diff-Drive test
+ADD_EXECUTABLE(test_processor_diff_drive test_diff_drive.cpp)
+TARGET_LINK_LIBRARIES(test_processor_diff_drive ${PROJECT_NAME})
+
 # MPU6050 IMU test
 #ADD_EXECUTABLE(test_mpu test_mpu.cpp)
 #TARGET_LINK_LIBRARIES(test_mpu ${PROJECT_NAME})