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

@@ -67,8 +67,10 @@ void ProcessorMotion::process(CaptureBasePtr _incoming_ptr)
 //        std::cout << "PM: RUNNING" << std::endl;
     }
 
+    incoming_ptr_ = processIncomingCapture(_incoming_ptr);
 
-    incoming_ptr_ = std::static_pointer_cast<CaptureMotion>(_incoming_ptr);
+    /// @todo Anything else to do ?
+    if (incoming_ptr_ == nullptr) return;
 
     preProcess();
 
@@ -92,7 +94,7 @@ void ProcessorMotion::process(CaptureBasePtr _incoming_ptr)
         FeatureBasePtr key_feature_ptr = emplaceFeature(last_ptr_, key_frame_ptr);
 
         // create motion constraint and link it to parent feature and other frame (which is origin's frame)
-        auto ctr_ptr = emplaceConstraint(key_feature_ptr, origin_ptr_->getFramePtr());
+        /*auto ctr_ptr =*/ emplaceConstraint(key_feature_ptr, origin_ptr_->getFramePtr());
 
         // new capture
         CaptureMotionPtr new_capture_ptr = std::make_shared<CaptureMotion>(key_frame_ptr->getTimeStamp(),
@@ -372,6 +374,11 @@ void ProcessorMotion::reintegrateBuffer(CaptureMotionPtr _capture_ptr)
     }
 }
 
+CaptureMotionPtr ProcessorMotion::processIncomingCapture(CaptureBasePtr& _incoming_ptr)
+{
+  return std::static_pointer_cast<CaptureMotion>(_incoming_ptr);
+}
+
 CaptureMotionPtr ProcessorMotion::getCaptureMotionContainingTimeStamp(const TimeStamp& _ts)
 {
     // We need to search in previous keyframes for the capture containing a motion buffer with the queried time stamp