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Remove Eigen plugin

Paul Gessinger requested to merge ACTS-478-remove-eigen-plugin into master

This removes the Eigen plugin, and also cleans up the Helper.hpp.

Specifically:

  • getTransformFromRotTransl is removed (was used, but can be replaced by matrix expression)
  • toString moves to Navigator: is only used there, general utility is not given in my opinion (@asalzbur, thoughts?) (is used in some tests, we keep it for now)

This is rebased on the new target names, so !454 (merged) must go in first.

Closes ACTS-478

Edited by Paul Gessinger

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