Convert `architect_model::ArchitectModel` to `cad_percept::cgal::MeshModel`

[francescomilano172]

A smaller pull request so that the localization module uses cad_percept::cgal::MeshModel rather than architect_model::ArchitectModel. The previous commits on the branch fmilano/cpt_pointlaser_loc are essentially just a refactoring of the code from the hilti_slam repo (will open a PR for the whole branch after implementing the ROS interface, which is still missing). The changes below assume that:

• Ray from cad-percept (https://github.com/ethz-asl/cad-percept/blob/1d88e68539e2ab024a7161db227ec16155f7e36b/core/cgal_definitions/include/cgal_definitions/cgal_typedefs.h#L38) and Ray from hilti_slam https://github.com/ethz-asl/hilti_slam/blob/f3b8e351331e03a44091dbeb764bfa4e9d9bc533/pointlaser_loc/include/pointlaser_loc/architectmodel.h#L29) are the same.
• PolyhedronAABBTree from cad-percept (https://github.com/ethz-asl/cad-percept/blob/1d88e68539e2ab024a7161db227ec16155f7e36b/core/cgal_definitions/include/cgal_definitions/cgal_typedefs.h#L66) and Tree from hilti_slam (https://github.com/ethz-asl/hilti_slam/blob/f3b8e351331e03a44091dbeb764bfa4e9d9bc533/pointlaser_loc/include/pointlaser_loc/architectmodel.h#L37) are the same.
• PolyhedronRayIntersection from cad-percept (https://github.com/ethz-asl/cad-percept/blob/1d88e68539e2ab024a7161db227ec16155f7e36b/core/cgal_definitions/include/cgal_definitions/cgal_typedefs.h#L71-L72) and Ray_intersection from hilti_slam (https://github.com/ethz-asl/hilti_slam/blob/f3b8e351331e03a44091dbeb764bfa4e9d9bc533/pointlaser_loc/include/pointlaser_loc/architectmodel.h#L38-L39) are the same.

I wasn't sure where to place the new function buildRayFromPose (please cf. cfa0cc7 for a description of why it is required), so I inserted it in the cpt_utils package, which seems to contain methods with a similar functionality.

[ethzasl-jenkins]

Test FAILed.

[ethzasl-jenkins]

Test FAILed.

[francescomilano172]

retest this please

[ethzasl-jenkins]

Test FAILed.

[ethzasl-jenkins]

Test FAILed.

[francescomilano172]

@gawela Thanks a lot for the review! The style checker was also complaining about the length of some lines (I was using max length 80 locally, instead of the 100 set in the .clang-format). Merging (into fmilano/cpt_pointlaser_loc).