WIP: Resolve "Eigen::Matrix::cast<ceres::Jet>() not needed if upgrading to Eigen 3.3"

Closes #257 (closed)

hello_wolf/factor_bearing.h

@@ -69,8 +69,8 @@ inline bool FactorBearing::operator ()(const T* const _p1, const T* const _o1,
     T bearing   = atan2(point_r(1), point_r(0));
 
     // 4. Get the measured range-and-bearing to the point, and its covariance
-    Matrix<T, 2, 1> range_bearing       = getMeasurement().cast<T>();
-    Matrix<T, 2, 2> range_bearing_cov   = getMeasurementCovariance().cast<T>();
+    Matrix<T, 2, 1> range_bearing       = getMeasurement();
+    Matrix<T, 2, 2> range_bearing_cov   = getMeasurementCovariance();
 
     // 5. Get the bearing error by comparing against the bearing measurement
     T er   = range_bearing(1) - bearing;