catkin build

Add support for catkin build & fix few things.

src/constraint_container.h

@@ -22,7 +22,7 @@ class ConstraintContainer: public ConstraintSparse<3,2,1,2,1>
 			lmk_ptr_(_lmk_ptr),
 			corner_(_corner)
 		{
-            assert(_corner >= 0 && _corner <= 3 && "Wrong corner id in constraint container constructor");
+            assert(/*_corner >= 0 &&*/ _corner <= 3 && "Wrong corner id in constraint container constructor");
             setType("CONTAINER");
 
             std::cout << "new constraint container: corner idx = " << corner_ << std::endl;