add plane Frame

[jmaleo]

Feature adding the base conversion from plane created from oriented point clouds.

[nmellado]

@jmaleo please fix compilation errors

[nmellado]

Thanks, looks nice.

One last remark: could you set m _u and m_v as private, and add a protected setter (e.g. setFrameUV(vector u, vector v), with the documentation explaining how the frame is constructed), and a public getter to each field (e.g., getFrameU() and getFrameV()).

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