Resolve "Frame/Capture/Feature/Landmark Other as list/vectors in FactorBase"

Closes #294 (closed)

include/core/factor/factor_diff_drive.h

@@ -140,10 +140,12 @@ inline bool FactorDiffDrive::operator ()(const T* const _p1, const T* const _o1,
 inline Eigen::VectorXd FactorDiffDrive::residual()
 {
     VectorXd residual(3);
-    operator ()(getFrameOther()->getP()->getState().data(), getFrameOther()->getO()->getState().data(),
-                getCapture()->getFrame()->getP()->getState().data(),
-                getCapture()->getFrame()->getO()->getState().data(),
-                getCaptureOther()->getSensorIntrinsic()->getState().data(), residual.data());
+    operator ()(getFrameOther()   ->getP()               ->getState() .data(),
+                getFrameOther()   ->getO()               ->getState() .data(),
+                getFrame()        ->getP()               ->getState() .data(),
+                getFrame()        ->getO()               ->getState() .data(),
+                getCaptureOther() ->getSensorIntrinsic() ->getState() .data(),
+                residual.data());
     return residual;
 }