IKSolver added methods to call it with euler angles

This was an attempt to fix the initializacion of the chain rotations.
However it is a useful adition
SkeletonFitting moved Skel_Leg and Axis enums to Skeleton class.

Now this enums are in the namespace of the class, the previous way was name
polution.
Switch code style from previous custom style to K&R

K&R is widely used and implemented in other editors, so it is better
for compatibility with other editors.
Created class CloudClusterer.

Moved all the cloud division methods from SkeletonFitting to
CloudClusterer.

Skeleton Fitting class was getting bloated, with this new class
SkeletonFitting now looks like a normal class.
CloudClusterer divide_four_sections code splited in two new methods.

Divide_four_sections code was too long, now it can be read better
CloudCluster fixed error on recalculate_right_left_knn

Instead of counting the neighbours of each leg separately they were all
accumulated in the same variable. Now it uses an array to store the values
for each leg
BonePosFinder class added.

SkeletonFitting was still a class too large. Now all the methdos to find bone
positions has been move to BonePosFinder
SkeletonFitting moved head coordinate projections to BonePoseFinder