CaptureMotion: replace origin_frame_ptr_ by capture_origin_ptr_.

SO far, CaptureMotion was storing a pointer to the Frame where its MotionBuffer started. This was the Frame previous to the frame of the capture. The API of CaptureMotion reflected this with

• a const FrameBasePtr & in the constructor
• getter and setter for the origin_frame_ptr_ member.

Very often, algorithms needed to access not the origin frame, but the origin capture associated with the same sensor. This required a call to getCaptureOf(SensorBasePtr).

I find it overall a little odd. Storing the Capture everything seems easier: the Capture is accessed directly, and the Frame is obtained from the capture->getFrame().

So this MR replaces the pointer to Frame to a pointer to CaptureBase.

@joanvallve possibly this interests you as you were having a question about this short ago.

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• 076a41a3 - Rename origin_capture_ to origin_capture_ptr_

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• 093d7435 - Rename a few variables for consistency

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changed title from CaptureMotion: replace origin_frame_ptr_ by origin_captureptr. to CaptureMotion: replace origin_frame_ptr_ by capture_originptr.

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• 3c10aacf - Update processor_motion.cpp

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• 60e46d2d - Small formatting

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• 9ea9e864 - Use VectorXs in Odom3D to accept size 6 and 7 data

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• 9ea9e864...e83c49af - 9 commits from branch devel
• 55f4d95a - Merge branch 'devel' into 'capture-motion'

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• 4dc5237d - Fix pointer to capture instead of frame

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merged

mentioned in commit 78abee05