New Diff Drive suite with sensor self-calibration

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• 2d4ce932 - More gtests

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• 94c57005 - Fix condition of small angle approx -- fabs(dth)

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• d09a3980 - Update gtest_processor_diff_drive_selfcalib.cpp

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• 8596451a - More gtests -- Jacobians not tested yet

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• add1a06e - Add API helper

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• 832cec84 - New gtest factor diff drive
• 9078294f - wip: debugging gtest factor diff drive

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marked as a Work In Progress from 9078294f

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• c1561b9c - Fix previous bug
• d3379ae5 - gtest factor, add test residuals

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• dc58218e - Update factor_diff_drive.h

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• dc58218e...e8d0878d - 16 commits from branch devel
• cb0eb798 - Merge branch 'devel' into processor_diffdrive_selfcalib
• e63dc553 - Merge branch 'devel' into processor_diffdrive_selfcalib
• 9a2fefcf - gtest factor autodiff
• eba80749 - Merge branch 'devel' into processor_diffdrive_selfcalib
• 6c51e429 - Remove non-templated delta-correction functions

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• 7705f7c2 - Some fixes to feature_motion

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• 7705f7c2...2c3311e4 - 3 commits from branch devel
• 8e83a8cf - Merge branch 'devel' into processor_diffdrive_selfcalib

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• ea01c01d - Update factor_diff_drive.h

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• 748ac2e6 - Rename CaptureWheelJointPosition -> CaptureDiffDrive
• f5cafd02 - Use FeatureMotion and deprecate FeatureDiffDrive
• c4800d64 - cleanup
• 0fc79a4b - Remove YAML default for ParamsOdom2D

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• eecd9a5c - Fix Exp and Jacobians
• e699a700 - Cleanup

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• 771c9e05 - Update processor_diff_drive_selfcalib.h

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• 830d434f - Add SE2.h and move helper functions there

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• da3a7fe6 - Update gtest_processor_diff_drive_selfcalib.cpp

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• a95e0835 - Add voteForKf()
• 46a33934 - Add gtest diff_drive->process()

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• ade6d961 - Update processor_diff_drive_selfcalib.cpp

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