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_base.h

@@ -33,8 +33,8 @@ class ProcessorBase : public NodeBase, public std::enable_shared_from_this<Proce
     private:
         SensorBaseWPtr sensor_ptr_;
 
-        static unsigned int processor_id_count_;
         bool is_removing_; ///< A flag for safely removing nodes from the Wolf tree. See remove().
+        static unsigned int processor_id_count_;
 
     public:
         ProcessorBase(const std::string& _type, const Scalar& _time_tolerance = 0);