Replaces the implementation to avoid using explicit drake imported types

[agalbachicar]

🎉 New feature

Pairs with https://github.com/maliput/maliput/pull/603

Summary

Replaces direct use of drake / eigen types by new classes in maliput.

Test it

Via unit tests.

Checklist

• [x] Signed all commits for DCO
• [ ] Added tests
• [ ] Added example and/or tutorial
• [ ] Updated documentation (as needed)
• [ ] Updated migration guide (as needed)
• [ ] Consider updating Python bindings (if it affects the public API)

action-ros-ci-repos-override: https://gist.githubusercontent.com/francocipollone/b218a7671b9bb6b6be2c22ac19f85793/raw/734e35d0727e61f3f345b448fab0969ec21f5880/maliput_malidrive.repos

[francocipollone]

Note: Added the action-ros-ci-repos-override. As of next push it should run CI with the correspondant maliput branch.

[agalbachicar]

For the record:

• Wheel Generation / manylinux2014 failed because of not switching branches.
• gcc / Compile and Test (Bazel) (pull_request) failed because it requires a new maliput release.

[francocipollone]

Retriggered CI to see how it behaves after solving the blockers