templated pose measurement on its auxiliary state

camera-imu calibration, world-vision frame and scale are now template parameters, such that we can use the pose measurement implementation for multiple measurements, incorporating the correct aux states.
templates have default parameters, therefore the current implementation shouldnt be affected.
Merge remote-tracking branch 'origin/master' into feature/pose_measurement_templated

Conflicts:
	msf_updates/include/msf_updates/pose_sensor_handler/implementation/pose_sensorhandler.hpp
	msf_updates/include/msf_updates/pose_sensor_handler/pose_measurement.h
adr comments
Fixed compiler errors
Merge pull request #40 from ethz-asl/feature/pose_measurement_templated

templated pose measurement on its auxiliary states
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Fix missing findpackage catkin
Merge pull request #49 from ethz-asl/fix/cmake_lists

Fix missing findpackage catkin
Added unit tests for msf_core state accessors
glog linking
Readding export of FindGLog Script
link core against glog
Merge pull request #50 from ethz-asl/feature/unit_tests_msf_core_state_accessors

Added unit tests for msf_core state accessors
Adding unit test similarity transform
Split similarity transform tests into separate test cases