[Alpha v0.4] Clean up and parametrization

Overall high quality that seems to match Fast-LIO2's. Cleaned code with YAML parameters for easy testing.

[Alpha v0.3] Offline mapping

Real-time localization and offline mapping that matches Fast-LIO2's performance. Stable beginnings and can go to really low deltas. Still has quick fixes and computation cost has to be revised.

[Alpha v0.1] Core algorithm working

Unstable beggining, costly computation, can't go lower than delta=0.025, no deleting in map, quick fixes in code to be removed.