Rework of eigen features in common

Most of the inline definitions were moved into the hpp file.

Some existing functions are now templated : 
  * getTransformation
  * getTranslationAndEulerAngles
  * getEulerAngles

Added : (all templated)
  * transformPoint
  * transformVector
  * transformLine
  * transformPlane
  * checkCoordinateSystem
  * transformBetween2CoordinateSystems

No change in the API
Test unit updated