Fixes #810.
Merge pull request #811 from mohawkjohn/vector_erase_end

Fixes undefined behavior from erasing an end iterator
Including GRSD a global radius-based surface descriptor

GRSD is developed by Zoltan-Marton, this was a old patch as part of his branch being included into the trunk
Adding test files for RSD and GRSD

Resolved the build errors with respect to PCL_NO_PRECOMPILE on the /test files