Static member function in matcher to transform pointcloud

[Jebediah]

Pointcloud datatype may change, so have matcher class abstract it.

[chutsu]

Status?

[Jebediah]

not started yet, was waiting on kinematics merge and then was busy with exam until now.

[arunxdas]

You can go ahead an implement with Eigen or transformation of your choice. Once transformations are merged we can go back and change it to a wave::Transformation