Sensor::process(capture) does not check capture type

As @jcasals experienced today, the current implementation allows a CaptureOdom2d to be processed by a SensorLaser (i.e. all its processors).

Assertions (or similar) should be added in the all sensor's process() function, and maybe in all processors too.

Proposal:

Adding a pure virtual function: bool ProcessorBase::canProcessCapture(CaptureBasePtr cap) = 0 called in the for loop of SensorBase::process() that iterates over all processors. Only call process if the capture can be processed.

Also, we may want SensorBase::process() to be virtual and final to assure that the check is done before calling ProcessorXX:process().