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/rotations.h

@@ -386,21 +386,11 @@ inline Eigen::Matrix<T, 3, 3> matrixRollPitchYaw(const T roll,
                                                  const T pitch,
                                                  const T yaw)
 {
-  const T c_yaw (cos(yaw));
-  const T s_yaw (sin(yaw));
+  const Eigen::AngleAxis<T> ax = Eigen::AngleAxis<T>(roll,  Eigen::Matrix<T, 3, 1>::UnitX());
+  const Eigen::AngleAxis<T> ay = Eigen::AngleAxis<T>(pitch, Eigen::Matrix<T, 3, 1>::UnitY());
+  const Eigen::AngleAxis<T> az = Eigen::AngleAxis<T>(yaw,   Eigen::Matrix<T, 3, 1>::UnitZ());
 
-  const T c_pitch (cos(pitch));
-  const T s_pitch (sin(pitch));
-
-  const T c_roll (cos(roll));
-  const T s_roll (sin(roll));
-
-  Eigen::Matrix<T, 3, 3> rot;
-  rot << c_pitch*c_roll                      , -s_roll*c_pitch                     ,       s_pitch,
-         s_pitch*s_yaw*c_roll + s_roll*c_yaw , -s_pitch*s_roll*s_yaw + c_roll*c_yaw, -s_yaw*c_pitch,
-         -s_pitch*c_roll*c_yaw + s_roll*s_yaw,  s_pitch*s_roll*c_yaw + s_yaw*c_roll, c_pitch*c_yaw;
-
-  return rot;
+  return (az * ay * ax).toRotationMatrix().matrix();
 }