colli: catch exceptions on init() and properly close interfaces
colli: remove dependency on PCL and Eigen for removing old laser data

We have 2 laser points and even 1 reference point (the robot position),
so basically 2 vectors. Calculations are simple trigonometric, no need for
line-to-point projections and distance calculations (which are more costly
btw) and hence no need to be depending on PCL for this simple calculation.

The previous comparisons of opposing beams was errornous anyway, because
if for example the 2 points were less than 1-degree apart, but in different
quadrants (of the robot's local coordinate system), they would've been
considered to be beams in different directions.
colli: fixed documentation errors
colli: complete code cleanup

This includes:
* removing CamelCase style
* remove "C" prefix for class names
* use "_" suffix for private variables
* remove redundant/duplicated code
* remove unused methods
* remove MotorControl class (MotorInterface suffices)
There is still room for more code reduction thoug.
colli: stop immediately if updating occupancy-grid failed (fixes #341)

If for some reason the occupancy-grid could not be updated, then the
obstacle information are incorrect. We need to stop imeediately.
This is most likely due to transformation problems, so this commit
also fixes ticket #341.