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.
This cannot happen. CForest::solve sets the callback:  
    pdef_->  setIntermediateSolutionCallback(boost::bind(&CForest::newSolutionFound, this, _1, _2, _3));

And this part of the code is only used if CForest is activated. This callback not set means CForest is not working so this code will be ignored.