Fixed infinite loop issue in RRTstar for Dubins. Added appropriate testing for RRTstar applied to Dubins.
Refactoring and cleanup of RRTstar and new RRTstar+Dubins test cases according to comments on pull request
Further refactoring of 2dcircles_optimize test
Merge pull request #1 from giogadi/master

Fix for Dubins RRTstar issue #79