Improved memory allocation and solver parameterization
- Added use_yaw_increments parameter that uses yaw increments from IMU since last LIDAR update as initial guess for the optimizer. This is a good choice when robot performs very fast yaw rotations
- Added grid trilinear interpolation computation online. This will reduce the DLL memory requirements by a factor of 7 approximatelly
- Added parameters to set solver max iterations and max threads
- Added comprehensive message when .grid files is no found