More Expression wrappers

[BrettRD]

This pull request adds Expressions for:

• Range<Point2, Point2>
• Pose3::transformPoseTo
• Pose3::translation
• Unit3::point3
• OrientedPlane3::distance
• OrientedPlane3::normal
• PinholeCamera::getPose

This pull request also adds Jacobians to the getter functions OrientedPlane3::distance and OrientedPlane3::normal

Let me know if any of these need tests, I couldn't spot any existing test patterns for these kinds of wrappers
I have some examples for these that I can share as well

[dellaert]

Awesome! No need to test the expressions, but the new derivatives in Unit3 should have a test :-) Are you up for adding those?

[BrettRD]

I can give it a whirl,
Do you mean the new derivatives in OrientedPlane3.h?
Would the test end up testExpressionFactor.cpp?

[dellaert]

Yep, those. They should be tested in testOrientedPlane.cpp, look at TEST(OrientedPlane3, jacobian_retract) for an example on using functions from numericalDerivative.h.

[BrettRD]

I was just thinking the explicit-value tests looked superfluous,
I'll try rebuilding those and actually refer to the tangent space

[BrettRD]

I think the new tests are what you're after.
I left in the test that compares to retract(zero) because it's fast and readable.

[dellaert]

Looks awesome ! Will merge when CI passes. Thanks !!!