Localization

@shaun-edwards 
Can you review what I've done so far? (I hope this is what you meant by making another branch and doing a pull request...) Thanks.
Not sure why the convention in this package is to pass values back by pointer (pass by reference would be much safer).  The convention does appear to be pass by const pointer thought....see [here](https://github.com/swri-robotics/sicktoolbox/blob/catkin/include/sicktoolbox/SickLMS1xx.hh#L144).