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/processor_motion.cpp

@@ -374,7 +374,7 @@ void ProcessorMotion::reintegrateBuffer(CaptureMotionPtr _capture_ptr)
     }
 }
 
-CaptureMotionPtr ProcessorMotion::processIncomingCapture(CaptureBasePtr& _incoming_ptr)
+CaptureMotionPtr ProcessorMotion::getIncomingCaptureMotion(CaptureBasePtr& _incoming_ptr)
 {
   return std::static_pointer_cast<CaptureMotion>(_incoming_ptr);
 }