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