[core] Add notion of algebra to sensor.

[duburcqa]

Currently, a euclidean linear interpolation is used systematically for all sensors. The proper lie algebra interpolation method should be used (typically it makes sure that quaternion data is properly normalized). This could be implemented easily by providing the lie algebra of the sensor as static const member. Beside, this lie algebra should be used to normalized the measured sensor data at the very end to handle noise.