Toward generic factory

Allows to typedef a factory for CreatorCallback with multiple input arguments.

The main change is that when typedef a new kind of factory the template parameter TypeInput must embed cv-qualifier, reference, pointer etc.

Update the SensorFactory to be a simple Factory typedef .

src/sensor_factory.cpp

-/**
- * \file sensor_factory.cpp
- *
- *  Created on: Apr 25, 2016
- *      \author: jsola
- */
-
-#include "sensor_factory.h"
-
-#include <iostream>
-#include <iomanip>
-
-namespace wolf
-{
-
-bool SensorFactory::registerCreator(const std::string& _sensor_type, CreateSensorCallback createFn)
-{
-    bool reg = callbacks_.insert(CallbackMap::value_type(_sensor_type, createFn)).second;
-    if (reg)
-        std::cout << std::setw(22) << std::left << "SensorFactory" << " : registered " << _sensor_type << std::endl;
-    else
-        std::cout << "SensorFactory     : sensor " << _sensor_type << " already registered. Skipping. " << std::endl;
-    return reg;
-}
-
-bool SensorFactory::unregisterCreator(const std::string& _sensor_type)
-{
-    return callbacks_.erase(_sensor_type) == 1;
-}
-
-SensorBase* SensorFactory::create(const std::string& _sensor_type, const std::string& _name, const Eigen::VectorXs& _extrinsics, const IntrinsicsBase* _intrinsics)
-{
-    CallbackMap::const_iterator creator_callback_it = callbacks_.find(_sensor_type);
-    if (creator_callback_it == callbacks_.end())
-    {
-        // not found
-        throw std::runtime_error("Unknown Sensor type");
-    }
-    // Invoke the creation function
-    return (creator_callback_it->second)(_name, _extrinsics, _intrinsics);
-}
-
-// Singleton ---------------------------------------------------
-// This class is a singleton. The code below guarantees this.
-
-SensorFactory& SensorFactory::get() // Unique point of access;
-{
-    static SensorFactory instance_;
-    return instance_;
-}
-
-} /* namespace wolf */