Resolve "Generic factors API"

Closes #393 (closed)

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• 05c10a20 - topology added to FactorBase and core adapted

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• f27cefef - cmakelists updated

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marked this merge request as ready

mentioned in issue mobile_robotics/wolf_projects/wolf_lib/plugins/laser#16 (closed)

mentioned in issue mobile_robotics/wolf_projects/wolf_lib/plugins/imu#17 (closed)

mentioned in issue mobile_robotics/wolf_projects/wolf_lib/plugins/apriltag#12 (closed)

mentioned in issue mobile_robotics/wolf_projects/wolf_lib/plugins/vision#17 (closed)

mentioned in issue mobile_robotics/wolf_projects/wolf_lib/plugins/bodydynamics#10 (closed)

mentioned in issue mobile_robotics/wolf_projects/wolf_lib/plugins/gnss#17 (closed)

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mentioned in commit 414b0312

merged