Refactor NDT map
Description
NDT map currently have two map formats: static and dynamic to be used for localization and map building respectively. To reduce the complexity and boilerplate, these types can be merged into a single ndt map class that can both serialize and deserialize the ndt map.
Expected behavior
P2D ndt has a single map representation.
Definition of Done
-
NDT map is refactored as described. -
Mapper still works.