Resolve "icp: develop matching tools"

Closes #23 (closed)

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• c9d69020 - icp: added files icp.h icp.cpp

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• 98e77627 - icp: added ICPWrapper

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• 2ff8c13b - Modified function definition

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• 4ce0741e - icp: small fix related to namespaces

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• 069f1bd9 - Added scan matching functionality

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• 268d516d - Minor Changes

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• f8516946 - WIP

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• a7930fe8 - Using random inicialization for debugging purposes

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• a2733fa2 - sm: matchICP() is working after some tuning
• 90ac2ca0 - Merge branch '23-icp-develop-matching-tools' of...
• 26da6eb1 - conflicts: solved conficts after pull

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• ebc3cb77 - Added icp parameters as a parameter to the ICP matching function

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• c199ff5a - Added gitignore

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• 9f4262ad - Output struct changed

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• 1cc6ff58 - Minor changes
• 06284855 - Include guards
• 0b932693 - minor bug

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• 9eaf1feb - Covar: Hardocded. Need to be correctly map from gsl

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• 284d3dcc - Getting Censi's covariance and transforming it to Eigen

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• f35100e1 - Add option for building tests
• 54d6e161 - Work around call to GSL function
• b996b95a - Use ScalarT not double

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• 3fc3e4b4 - Minor cosmetic changes.

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• 465d0902 - Rename matchPC --> align

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• d61637c5 - Added conversion of laser_data->theta to radians

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• 50498f34 - Made CSM optional

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• 835e4803 - returning initial guess if valid != 1
• 2510f52a - Merge branch '23-icp-develop-matching-tools' of...

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• 1b566f72 - Removed shortcut to set angles to radians; now it is properly set at config time

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• 1b566f72...5ffc1117 - 3 commits from branch master
• bcacfcee - Merge branch 'master' into 23-icp-develop-matching-tools
• aa861df8 - Merge branch '23-icp-develop-matching-tools' of...

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unmarked as a Work In Progress

merged

mentioned in commit 0d6a8e0f