CForest first version

Sorry about the (void) convention in functions, this is what happens when you copy and paste ignoring the other changes :)  Other RRTstar tweaks have been also overwritten.
Actually I found a place leaking memory, but was not enough. In the RRTstar::freeMemory(), I am now also freeing remaining statesToInclude_. In fact it frees some, but there is still a leak somewhere causes in the same cloneState line.