Add ProcessorMotion::processIncomingCapture & Miscellaneous

• Define some more types (Affine, Isometry...)
• ProcessorParamsBase virtual destructor
• rotation matrix from roll/pitch/yaw
• missing wolf namespace in macro. This is necessary for this macro to work outside wolf namespace.
• add ProcessorMotion::processIncomingCapture

About the last point, ProcessorMotion::process takes as argument a CaptureBase but statically cast it to a CaptureMotion within ProcessorMotion::process.
The addition of this virtual function allows one to derive from ProcessorMotion and process a different type of input capture as long as it is to 'turn' it into a CaptureMotion. E.g. a ProcessorLaserOdometry that takes as input argument a CaptureLaser2D, passes it to the newly added ProcessorMotion::processIncomingCapture which does some scans alignment and produces a CaptureMotion out of it.
The base class function holds the current implementation (static_pointer_cast) so there is no modification to the current behavior.

src/sensor_base.h

@@ -23,8 +23,11 @@ namespace wolf {
  */
 struct IntrinsicsBase
 {
-        std::string type;
-        std::string name;
+  IntrinsicsBase()          = default;
+  virtual ~IntrinsicsBase() = default;
+
+  std::string type;
+  std::string name;
 };
 
 class SensorBase : public NodeBase, public std::enable_shared_from_this<SensorBase>