RENAMED MathHelper2.Between renamed to BetweenL
REFACTORED max robot velocity and acceleration calculation moved to DwaNavigator, which passes them to other components; DwaProblemOptimizer returns velocities evaluation matrix
FIXED bug in AngleToTargetEvaluator

DwaNavigator\AngleToTargetEvaluator.cs: return angle to target as an evaluation instead of 1 - angle, fixed
DwaNavigator\DwaProblemOptimizer.cs: returns pair of VelocityAcceleration-DenseMatrix objects, VelocityAcceleration facilitates debugging
DwaNavigator\DwaNavigator.cs: semantics changed, Update method resets VelocitiesEvaluation and OptimalVelocity properties as a result
FIXED ObstaclesEvaluator could return negative distance to obstacles for curves with very small radius
CONTRACTS added to DwaNavigator.cs