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.h

@@ -270,9 +270,10 @@ class ProcessorMotion : public ProcessorBase
         virtual void postProcess() { };
 
         /**
-         * @brief Process the incoming CaptureBase an return a CaptureMotion.
-         * If not overloaded, the base class calls static_pointer_cast<CaptureMotion>(incoming)
-         * @return CaptureMotion.
+         * @brief Get the incoming CaptureBasePtr and returns a CaptureMotionPtr out of it.
+         * If not overloaded, the base class calls
+         * std::static_pointer_cast<CaptureMotion>(_incoming_ptr)
+         * @return CaptureMotionPtr.
          */
         virtual CaptureMotionPtr getIncomingCaptureMotion(CaptureBasePtr& _incoming_ptr);