Use Eigen::aligned_allocator to fix 32bit align

Attempts to fix 32bit alignment error in Eigen related code by using the Eigen::aligned_allocator in all STL Containers with Eigen.

**NOTE:** I'm not entirely sure this is a proper fix - it's more the thing that finally made it not crash at quarter to midnight... BUT, I wanted to do the PR to see what you thought.

See these resources for more information than I understand (particularly the first):

* http://eigen.tuxfamily.org/dox-devel/group__TopicStlContainers.html

* (Cause 2:) http://eigen.tuxfamily.org/dox-devel/group__TopicUnalignedArrayAssert.html

2nd Note: This is not a completely informed fix ... it just seemed to finally fix the alignment error and make the program not crash on __32-bit 12.04 with groovy, catkin (no kinect)__.