François Pomerleau

In `pm_icp` the consol output doesn't include initial transformation. Also, there needs to be more documentation when using the flag `-h`.

Add documentation for robust cost functions

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To complete the PR #279 from @PhiBabin .

Unclear convention for input variable names

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For now, we use the same input variable name as the member name, especially in the constructor. This might causes some problem on the the long run. Problematic example: ```...

The unit tests for ErrorMinimizer do not cover the method getOverlap().

In `PointToPlaneWithCov.cpp`, the parameter `sensorStdDev` is a constant. This should be changed to use the field `sensorNoise` from `SimpleSensorNoiseDataPointsFilter`.

- It's use in `ErrorMinimizers` needs to be standardized. - The member `weights` should be a `Vector` not a `Matrix`

Add reciprocal search to the matching functions

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Allow users to search: A -> B or A B

Right now, when calling `getMatchedPoints()` the object `lastErrorElements` is written for further access. This rely on the good will of the developer to used that function in their ErrorMinimizer module....

There is two occurrences of this error in the code: `throw std::runtime_error("Requested trajectory evaluator at an invalid time.");` - https://github.com/utiasASRL/steam/blob/develop/src/trajectory/SteamTrajInterface.cpp#L97 - https://github.com/utiasASRL/steam/blob/develop/src/trajectory/SteamTrajInterface.cpp#L119 It would be easier to debug if the...

`steam::se3::VectorSpaceStateVar()` does not exist causing problem when integrated in other data structure.