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/factory.h

@@ -374,7 +374,7 @@ inline std::string FrameFactory::getClass()
 
 #define WOLF_REGISTER_FRAME(FrameType, FrameName) \
   namespace{ const bool WOLF_UNUSED FrameName##Registered = \
-    FrameFactory::get().registerCreator(FrameType, FrameName::create); }\
+    wolf::FrameFactory::get().registerCreator(FrameType, FrameName::create); }\
 
 
 } /* namespace wolf */