IMPLEMENTED angle to target evaluation

DwaNavigator/MotionModels.cs: motion over a line and over a circle models are extracted to special classes
DwaNavigator/Velocity.cs: contains linear and angular velocities which are usually go along in DWA project
DwaNavigator/ObstaclesOnLaneDistanceCalculator.cs: refactored to using Velocity class
CONTRACTS added

REFACTORED ObstaclesOnLaneDistanceCalculator uses CircleMotionModel for circle center and radius calculation
IMPLEMENTED dynamic window generation

DwaNavigator/DynamicDiamondGenerator.cs: window is called diamond because it has shape of diamond in v-omega space (it is rectangle in "omega left wheel"-"omega right wheel" space). Rectangle is formed in latter space and then transformed to diamond in former one.
IMPLEMENTING trajectory optimization over velocities space

DwaNavigator\DwaProblemOptimizer.cs: prunes and searches over linear-angular velocity space for velocity with the greatest evaluation, using IDynamicWindowGenerator and IVelocityEvaluator interfaces
DwaNavigator\DynamicDiamondGenerator.cs: refactored, Generate method returns mapping of velocities to corresponding acceleration, which can be passed to motors