RBL C++ cleaning

[afxalz]

• Clean the RBL library to become ROS API free
• We will still use the mrs_lib, mrs_msgs and any kind of ROS msgs but use Eigen wherever possible
• Currently the wrapper expects the following design

  struct RBLParams
  {
    double step_size;
    double radius;
    double encumbrance;
    double dt;
    double beta_min;
    double betaD;
    double beta;
    double d1;
    double d2;
    double d3;
    double d4;
    double d5;
    double d6;
    double d7;
    double th;
    double ph;
    double max_connection_dist;
    double cwvd_rob;
    double cwvd_obs;
    double radius_search;
    bool   use_z_rule;
    double z_ref;
    double z_min;
    double z_max;
    bool   only_2d = false;
  };

  class RBLController
  {
  public:
    RBLController(const RBLParams& params);
    void setCurrentPosition(const Eigen::Vector3d& point);
    void setGroupPositions(const std::vector<Eigen::Vector3d>& list_points);
    void setPCL(const sensor_msgs::PointCloud2::ConstPtr& list_points);
    void setGoal(const Eigen::Vector3d& point);

    mrs_msgs::Reference            getNextRef();
    Eigen::Vector3d                getGoal();
    Eigen::Vector3d                getCurrentPosition();
    Eigen::Vector3d                getCentroid();
    pcl::PointCloud<pcl::PointXYZ> getPCL();
  };