WIP refactor(ndt_scan_matcher): isolate align function into ndt package

[kminoda]

Signed-off-by: kminoda koji.m.minoda@gmail.com

Description

I propose to isloate align function in ndt package.

Current interface of ndt_ptr_ (defined in ndt) is a bit redundant. It would be easier to handle the object by making a new function as

const NdtResult ndt_result = ndt_ptr_->align(initial_guess_pose)

I will make this pull request open after #2024.

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[kminoda]

@TakaHoribe
I want to include tf2_eigen in tier4_autoware_utils/geometry.hpp in this PR, but it seems that the toMsg namespace conflicts in behavior_velocity_planner (with this one: here).

Here's some solutions I have in mind:

• change the name of the toMsg function in the behavior_velocity_planner
• add a namespace before the function in behavior_velocity_planner (like behavior_velocity_planner::toMsg())
• make the new functions in tier4_autoware_utils as a separate file

Do you have any preferences on these three? (or do you have any other better idea?)