Work on Clustering Filter algorithm.

- implemented in a lot of details.
- bugged (as always!)
- algorithm loops... :(
- ther's an error in the logic of the algorithm: if the line i+1 has the first point in the y coordinate smaller than the first point of the column 1, the fuzzy clustering doesn't work well... (I immagine because the algorithms loops and i cannot prove that feeling)
Merge branch 'master' of github.com:AIRLab-POLIMI/C-SLAM