Added classes to process Trihedron data gathering and optimization

Functionalities in CTrihedronOptimization
- Set parameters for optimization
- Stack new observations
- Filter set of observations with RANSAC
- Implement functions for Rotation optimization (FErr, FJac and FWeights)
- Methods for optimization (W and NW)
- Implement derivative of optimization function R = F(data)
- TODO: Plot error and weights for a R

In CTrihedron getCorrespondence is modified to return object of class CTrihedronObservation

Updated main_Simulation3 for new uses