Added common base class for optimization classes CBaseOptimization
Inheritance of CTrihedronOptimization from CBaseOptimization
Refactor of CCorner getCorrespondence method

The current method has been splitted in two blocks (Cam and LRF) to ease representation

Added method plotScanFeatures in CCorner to show detected LIDAR points in scene
Added generic method in CPattern plotScanFeatures
First steps towards standarization of optimization of CCorner
Fix indent
Added general simplified caller for LM_Man_optim
Add plotCostFunction base method in CBaseOptimization

This function allows to plot cost function for 3 variables (in 3 plots) in a generic way

Some representation options are added to this parent class for inheritance
Add functions, optimization and plotting to CCornerOptimization

Functions are based in 2D distance as Kwak's
The weight is computed as explained in Kwak

Several optimization methods are available:
- NonWeighted: No weights are used
- Weighted: Weights are computed in each step
- ConstWeighted: The weights are constant (computed from NW solution)
- PreWeighted: Weights are computed in each step but optimization used NW solution as initial estimate
Add ; in W
Refactor and add 2D error function in CTrihedronOptimization
Order in LM SE(3) is [rot,trans]
Add resolution properties to CConfigLidar
Change LRF points to 2D in CCorner

Added also some comments about storage order
Commented plotScanFeatures in plotScene
Added property Rt (concatenated R and t) for CSimRig
Update main_Jesus with all changes and added options

TODO: Main options for plotting and RANSAC will go to a .ini file
Merge branch 'Experimental-CCornerOptimization'

Merge of all changes applied to Experimental-CCornerOptimization
- Adapted CCorner optimization to standard format
- Added 2D error functions to CTrihedronOptimization
- Some improvements in optimization and plotting
Add methods to CCornerOptimization to optimize using only central correspondences and Hessians

Included methods for Hessian computation based on linear approximation J'*J in LM for Trihedron and Corner
Add new methods call and display in main_Jesus
New fields in pose_gen.ini for Cam-Y rotation