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.
I assume you mean to create RRTstar::addMotion(Motion *). But I do not see how an RRTstar-derived class will benefit from this, could you give me more information, please?. This is close to what I thought at the beginning, but it will require to actually copy most of the solve() function into addMotion.