// VV [To be deleted] Converts ranges from a laserScan to homogeneous coordinates and save it to a matrix of same size than ranges size, returning index till valid values.
/** \brief Transforms from ranges (polar) to euclidean (xy)
*
* Transforms from polar (ranges) to euclidean (xy), while checking correctness of raw data.
* Invalid values (inf's and nan's) and out of range measurements are not transformed.
* Valid measurements are returned in homogeneous coordinates through reference.
* A list of jumps indices is also returned by reference.
* \param _params laser_scan_utils structure of the laser scan parameters.
* \param _ranges raw range measurements from the laser scanner device. Size Nr.
* \param _jump_theshold distance threshold to classify a jump in the range.
* \param _points matrix of homogeneous coordinates of hit points. Size 3xNp, where Np can be <= than Nr (due to possible inf's and nan's from raw data)
* \param jumps_id_ list of indexes of jumps in ranges. Indexes correpond to _points vector and