Resolve "icp: develop matching tools"

Closes #23 (closed)

src/icp.h

-// #include <csm/csm_all.h>
+#ifndef ICP_H_
+#define ICP_H_
+
 #include <chrono>
 #include <random>
 #include "laser_scan.h"
@@ -13,7 +15,7 @@ struct icpOutput{
     Eigen::Vector3s res_transf;
     Eigen::Matrix3s res_covar;
     int nvalid;     /** Number of valid correspondence in the end */
-    double error;   	/** Total correspondence error */    
+    double error;   	/** Total correspondence error */
 };
 
 struct icpParams{