Resolve "icp: develop matching tools"

Closes #23

See merge request mobile_robotics/laser_scan_utils!1

Merge branch '23-icp-develop-matching-tools' of https://jvallve@gitlab.iri.upc.edu/mobile_robotics/laser_scan_utils.git into 23-icp-develop-matching-tools

Merge branch '23-icp-develop-matching-tools' of https://jvallve@gitlab.iri.upc.edu/mobile_robotics/laser_scan_utils.git into 23-icp-develop-matching-tools

Merge branch '23-icp-develop-matching-tools' of ssh://gitlab.iri.upc.edu:2202/mobile_robotics/laser_scan_utils into 23-icp-develop-matching-tools

See comments in the code and in the csm library

added class ICPWrapper and method matchPC() that has to be linked with CSM library