Refactor Cxi class to inherit from Manifold.Dyn

This class works now as interface with functions c and v to obtain inner data
Fixed bug in covariance for computeBackprojectedNormals

- Use Dsnormalize function to differentiate normalization:
	The correct expression is 1/norm(v) * (eye - v*v'/v'*v)
- Remove jacobian projection wrt xi.v because covariance should be already projected
Set covariance computation optional in computeTrihedronNormals

Input order is changed to ease optional cov computation.
This can be useful when doing Monte Carlo simulations, since
it makes possible to compute without Nbp input
Add section and field options to readConfigFile

- With section input (optional or empty) we can read only
general fields and fields between chosen section and next one
- With field option we can read a single variable in specified section
(set empty section if general variable is seeked)
Refactor of .ini files to reduce the number of files

main.ini now contains sections:
- [Real] for real datasets
- [Blender] same options but for typical Blender values
- [Noise] options for the loop simulation for synthetic comparison
- [Simulation] options for the single simulation script
Refactor of pose_gen.ini to contain sections for each method

Sections: [Trihedron], [Corner], [Checkerboard]
Added sections to sim_noise.ini for each possible simulation

Sections currently are:
- [sd] for parallel increasing of Cam and LRF noise
- [Nobs] for simulation of increasing Nobs with fixed noise
- [test] for short tests and checking

The number of simulations to perform for each tuple is given in a general field at the beginning
Moved interesting functions and derivatives to own folder

The tools are:
- angularDistance
- DprojectionP2
- snormalize
- Dsnormalize
- Householder
Remove old simulation scripts (deprecated)
Refactor of CTrihedron class

- Make some refactor to manifold classes
- Remove deprecated external methods with stable implementations
- Rest some Monte Carlo lines (TODO)
Added folder for storing Monte Carlo results in .mat file
Make R_LRF computation optional using .ini option device

R_LRF will be computed only in case that device = 'Lidar' whe generating poses
If not, it will be returned empty
This is done to improve speed and save computational cost
Refactor to main files

- Refactor with new available option Sections in .ini files
- Add try/catch frame to avoid hanging in simulations
Refactor to Manifold classes

- New class for Rn typical space to have common interface
- Added constructors for array objects
- Projection derivative Dexp*Dlog is now called Dproj
- Added general methods in Dyn, based on member methods
- A lot of work rest to do yet to optimize operations
- Some methods are not implemented yet
- Look carefully for mistakes in S2 to explain Monte Carlo simulation errors
Added MonteCarloSim tool based on the use of Manifold classes in +Manifold package