Improvements for XsensDataReader

[alexbeattie42]

Fixes issue #3956

Brief summary of changes

1. Add a configuration option to XSensDataReaderSettings to specify a known data rate (sampling frequency).

2. Add a configuration option to XSensDataReaderSettings to specify a custom delimiter.

3. Add the ability to read in either a Rotation Matrix, Quaternion, or Euler angle values from Xsens files.

4. Update the parser to handle the path separator for data_folder.

5. Fix a memory leak in the original implementation.

6. Verify integrity and uniformity of all files.

Testing I've completed

• Existing unit tests
• Tested locally

Looking for feedback on...

CHANGELOG.md (choose one)

• Will update after review

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This change is 

[alexbeattie42]

@nickbianco could you take a look?

[nickbianco]

@aymanhab would you be willing to review this? I think you originally authored XsensDataReader.