Improvements for encoding and logging

Various improvements for the encoding and logging functionality.

New Features

• [io]:
  • ColumnBasedLogStream
    • added getter function generateColumnNames() (allows to distinguish between header and data when encoding data)
    • added support for eigen quaternions
  • encoding
    • added methods to encode and decode arrays, vectors, eigen matrices and eigen quaternions
• [curve] and [geometry]:
  • Changed encoding to new methods for arrays, vectors eigen matrices and eigen quaternions (Warning: some delimiters ',' or ';' may have switched in the new output)