update wave_geometry(master), change libwave to CXX 17

[mantkiew]

libwave submodules wave_geometry on commit @ 27be85b, which is very old, from Aug 2, 2018. Libwave builds successfully with the latest master of wave_geometry @ aabcad44a from on Jan 24, 2021.

All that's required is to upgrade CXX version to 17 from 11.

• updated googletest to 1.11.0 release.

Pre-Merge Checklist:

• [N/A] Code is documented in doxygen format
• [N/A] Code has automated tests
• [N/A] Zero compiler warnings
• [N/A] Formatted with clang-format

[mantkiew]

Tested on Ubuntu 18.04:

$     ctest --output-on-failure
Test project ..../libwave/build
      Start  1: wave_utils_tests
 1/34 Test  #1: wave_utils_tests ......................   Passed    0.02 sec
      Start  2: rotation_test
 2/34 Test  #2: rotation_test .........................   Passed    0.00 sec
      Start  3: rotation_misc_test
 3/34 Test  #3: rotation_misc_test ....................   Passed    0.00 sec
      Start  4: scalar_expression_test
 4/34 Test  #4: scalar_expression_test ................   Passed    0.00 sec
      Start  5: affine_test
 5/34 Test  #5: affine_test ...........................   Passed    0.00 sec
      Start  6: vector_test
 6/34 Test  #6: vector_test ...........................   Passed    0.00 sec
      Start  7: rigid_transform_test
 7/34 Test  #7: rigid_transform_test ..................   Passed    0.00 sec
      Start  8: manifold_test
 8/34 Test  #8: manifold_test .........................   Passed    0.00 sec
      Start  9: rvalue_expression_test
 9/34 Test  #9: rvalue_expression_test ................   Passed    0.00 sec
      Start 10: imu_preint_test
10/34 Test #10: imu_preint_test .......................   Passed    0.00 sec
      Start 11: is_same_test
11/34 Test #11: is_same_test ..........................   Passed    0.00 sec
      Start 12: index_sequence_test
12/34 Test #12: index_sequence_test ...................   Passed    0.00 sec
      Start 13: type_list_test
13/34 Test #13: type_list_test ........................   Passed    0.00 sec
      Start 14: util_cross_matrix
14/34 Test #14: util_cross_matrix .....................   Passed    0.00 sec
      Start 15: identity_matrix_test
15/34 Test #15: identity_matrix_test ..................   Passed    0.00 sec
      Start 16: dynamic_expression_test.cpp
16/34 Test #16: dynamic_expression_test.cpp ...........   Passed    0.00 sec
      Start 17: compound_test
17/34 Test #17: compound_test .........................   Passed    0.00 sec
      Start 18: noise_test
18/34 Test #18: noise_test ............................   Passed    0.00 sec
      Start 19: factor_test
19/34 Test #19: factor_test ...........................   Passed    0.00 sec
      Start 20: wave_containers_tests
20/34 Test #20: wave_containers_tests .................   Passed    0.00 sec
      Start 21: wave_benchmark_tests
21/34 Test #21: wave_benchmark_tests ..................   Passed    0.00 sec
      Start 22: wave_controls_tests
22/34 Test #22: wave_controls_tests ...................   Passed    0.00 sec
      Start 23: wave_kinematics_tests
23/34 Test #23: wave_kinematics_tests .................   Passed    0.01 sec
      Start 24: wave_matching_tests
24/34 Test #24: wave_matching_tests ...................   Passed   34.01 sec
      Start 25: wave_vision_tests
25/34 Test #25: wave_vision_tests .....................   Passed    2.11 sec
      Start 26: wave_vision_utils_tests
26/34 Test #26: wave_vision_utils_tests ...............   Passed    0.21 sec
      Start 27: wave_optimization_tests
27/34 Test #27: wave_optimization_tests ...............   Passed    0.05 sec
      Start 28: wave_gtsam_vo_offline_example
28/34 Test #28: wave_gtsam_vo_offline_example .........   Passed    0.05 sec
      Start 29: wave_gtsam_vo_offline_kitti_example
29/34 Test #29: wave_gtsam_vo_offline_kitti_example ...   Passed    0.39 sec
      Start 30: wave_gtsam_hand_eye_test
30/34 Test #30: wave_gtsam_hand_eye_test ..............   Passed    0.00 sec
      Start 31: wave_gtsam_decaying_bias_test
31/34 Test #31: wave_gtsam_decaying_bias_test .........   Passed    0.00 sec
      Start 32: wave_gtsam_pose_vel_state_test
32/34 Test #32: wave_gtsam_pose_vel_state_test ........   Passed    0.01 sec
      Start 33: wave_gtsam_prior_test
33/34 Test #33: wave_gtsam_prior_test .................   Passed    0.00 sec
      Start 34: wave_gtsam_imu_preint_test
34/34 Test #34: wave_gtsam_imu_preint_test ............   Passed    0.00 sec

100% tests passed, 0 tests failed out of 34

Total Test time (real) =  36.93 sec