REIMPLEMENTED ReferencePlatform2011Entity control principal

SimulatedReferencePlatform2011/ReferencePlatform2011Entity.cs: exhaustive cleaning and refactoring plus drive control is exercised via motor torque and takes into account wheels velocity (DC motor torque is inversely proportional to axle velocity)
RFEACTORED lrf measurements preprocessing extracted to method in RangefinderProperties

McLrfLocalizer/RangefinderProperties.cs, LikelihoodFieldMeasurementModel.cs, DwaNavigator.cs: PreprocessMeasurements introduced to RangefinderProperties (filters out max ranges and transforms measurements to vectors), duplicating code removed from DwaNavigator and LikelihoodFieldMeasurementModel
FIXED McLrfLocalizerTests more or less
Merge branch 'DWA-fixing' into DWA
FIXED mistake in ObstaclesEvaluator, keep experimenting with refernec platform

DwaNavigator/ObstaclesEvaluator.cs: differentiation between circle and line trajectory fixed, little margin for angular velocity introduced
SimulatedLocalizer/SimulatedLocalizerService.cs: angular velocity fixed (was returned linear instead)