new-nav-lib addded

added the new lib
just updated the licence
removed the old new-nav-lib 
created hybridnav library

created empty classes in the hybridnav
imported TPath from the old pt-rrt lib
Added first rrt example ("playground" for tests)

Also, added dependencies to the new mrpt-hybridnav lib.
worked a bit on this

just added RRTAlgorithm as empty lib and TMotion including data
structures for motions we need.
I'll continue implementing this in the next days
just update
update --- working
modified tmotions

Just check if I correctly intepreted !!!
 just few mods
updated TMotions, sorry for this long time to write line-by-line, i'm doing it in 10minutes each day ... and I also need your constant support in my first library writing
fixed a little error during the compiling, :-)
added initialization values on all variables, please check the initialization of state (). I worked a bit on the tree without so much success :-(
worked a bit on rrt algorithm, the tree is still missing
Better docs in CDirectedTree
dox docs: CDirectedTree example code
added addNode method, it compile and looks working from my test.cpp code. Now we need methods for searching in the tree, like searchIDinTree and searchNearestNeighbor
just for now to avoid conflict in CHierarchicalMapMHPartition.cpp
Fix error in DirectedTree node ctor
mostly comments and empty methods, I left a lot of MRPT_TODO for you to check for the best way of doing it ;-)
Some changes in SRBA library

- Added an output variable for the optimization results yielded by stage
1 when optimizing edges.
- Added a variable to contain the observation RMSE error after
optimization.
- Support for independent selection of robust kernel in both stages when
optimizing edges.