Several fixes for Mac

These fixes should be useful for all, even non-Mac.

They relate to either forgotten #includes, forgotten override keywords, or forgotten const keywords. They all caused compilation errors in my MacBook.

include/core/utils/converter.h

@@ -6,6 +6,7 @@
 #include <eigen3/Eigen/Geometry>
 #include <regex>
 #include <iostream>
+#include <array>
 
 namespace utils{
     template <typename A>
@@ -249,4 +250,4 @@ struct converter<std::map<std::string,A>>{
     }
 };
 }
-#endif
\ No newline at end of file
+#endif