utils/tracers: Modifying (simplifying) interface for ndnSIM tracers

Now most of the tracers internally keep created instances in a global
variable.  From now on, to start tracing, one needs just install a
necessary tracer, like this:

    ndn::L3RateTracer::InstallAll ("rate-trace.txt", Seconds (0.5));

Because of the change, it became possible to use the same tracers inside
python scripts.

Also, this commits contains corresponding documentation updates.
docs: Redesigned the index page of the ndnSIM website