Load from PCL/PLY format
Prepare pointclouds for ICP + lie algebra
Fix twist translation bug in Kinematics toolbox

The velocity for the twist seemed to be wrongly computed.
It was fixed using the formula used by the Sophus C++ library

Also, createtwisth was created to make it easier to create twists from
transformation matrices.
Use row instead of column for point clouds
Find and display nearest neighbors
Point to Point ICP works, but slow
ICP is now much faster, using numjac
Cleanup, comment, add another test ladder
ICP Point to plane
Cleanup point-to-point, point-to-plane icp
Faster Jacobian, using "Vectorized" functions
Point to Point ICP with generalized ICP framework
Levenberg-Marquart update step
Max distance constraint for nearest neighbour search
Fix indentation
Huber M-estimator
Use Gauss-Newton for stability