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