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

@@ -67,7 +67,7 @@ void ProcessorMotion::process(CaptureBasePtr _incoming_ptr)
 //        std::cout << "PM: RUNNING" << std::endl;
     }
 
-    incoming_ptr_ = processIncomingCapture(_incoming_ptr);
+    incoming_ptr_ = getIncomingCaptureMotion(_incoming_ptr);
 
     /// @todo Anything else to do ?
     if (incoming_ptr_ == nullptr) return;