Add object-oriented classes for simulator

CPlane3D
CConfigLidar
CBaseLidar
CSimLidar
CPolygon
Advances in CSimLidar

Renamed parametrization matrix Ms to M
Fixed bad formula for M
Changed condition for checking points belonging to plane

isInside condition fixed: the cross product has to be applied between side vector and relative position to p_i
transform2Dto3D set as CPlane3D method

scanPolygon already returns xy, range, angles and idxs of measurements of Lidar inside polygon
Added CTrihedron class for simulation with our corner pattern
Some refactor, added plot functions and working CTrihedron.

plot2 and plot3 functionality for CBaseLidar to plot scanning rays.

CConfigLidar properties are set to protected so that they can only be change via constructor.
Angles, directions and lines are then set as properties (no methods).

CPlane3D is set to inherit from class CPose3D.
The points-in-plane checking is done with tolerance 1e-6 [m].

New class CPose3D with properties R, t and T and methods for plotting object frame and reference.

Inf intersection points are checked in CSimLidar for scanPolygon.
Angles, directions and lines from Lidar are refactored to access as properties.
plotPolygonScan is added to plot scanned points in 3D.

plotScan is added to CTrihedron to plot result of scan by Lidar
Added abstract class CPattern and new pattern CCorner

Some methods and properties of CTrihedron are now inherited from CPattern
Added new pattern class CCheckerboard and fixes to CCorner

Default viewpoint for scene view is set to view(115,45) in CPattern
Add CSimCamera and CSimRig and begin simulation script
Fixed changes due to Dropbox
Modify main_Simulation2