Sized cost function using variadic templates

This PR changes the interface of sized_cost_fucntion,
autodiff_cost_function and numeric_diff_costfunction from using ten
hardcoded parameter blocks to a variable number of parameter blocks
using variadic templates.

Trailing parameter blocks of size zero are now considered as error.

Change-Id: I37b9a0a420ef0eda6476a46672bbf6bd57e19760

internal/ceres/local_parameterization_test.cc

@@ -265,14 +265,12 @@ void QuaternionParameterizationTestHelper(
   double* jacobian_array[2] = { NULL, jacobian_ref };
 
   // Autodiff jacobian at delta_x = 0.
-  internal::AutoDiff<Plus,
-                     double,
-                     kGlobalSize,
-                     kLocalSize>::Differentiate(Plus(),
-                                                parameters,
-                                                kGlobalSize,
-                                                x_plus_delta,
-                                                jacobian_array);
+  internal::AutoDifferentiate<StaticParameterDims<kGlobalSize, kLocalSize>>(
+      Plus(),
+      parameters,
+      kGlobalSize,
+      x_plus_delta,
+      jacobian_array);
 
   double jacobian[12];
   parameterization.ComputeJacobian(x, jacobian);