CForest first version

Sorry about the (void) convention in functions, this is what happens when you copy and paste ignoring the other changes :)  Other RRTstar tweaks have been also overwritten.
Actually this is something I do not completely understand. Ioan did it. First, the prevCallBack is got and checked if it exists. In this case it does not exist, why does it return something which is !=0? It does not contain a valid function.
Actually, is this if useful? It is not related with the planner, so I would omit this.