Moved computeRoots2 implementation into hpp
Moved computeRoots implementation into hpp
Moved eigen22 implementation into hpp
Moved computeCorrespondingEigenVector implementation into hpp
Moved eigen33 implementation into hpp
Moved invert2x2 implementation into hpp
Moved invert3x3SymMatrix implementation into hpp
Moved invert3x3Matrix implementation into hpp
Moved determinant3x3Matrix implementation into hpp + missing documentation written
Templated getEulerAngles
Templated getTranslationAndEulerAngles
Inlined one of the getTransformation function
Identation corrections in the test unit
Added inlined transformPoint
Added inlined transformVector
Added transformLine + test unit
Added transformPlane + test unit
Added checkCoordinateSystem + test unit
Added transformBetween2CoordinateSystems + test unit
Fix: fix silly bug in GICP preventing the inner optimization loop

Should have done this before but just couldn't find time previously.
Now PCL GICP result is exactly same as original GICP code.