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.
I have tested both options. freeState was already included ( si_->freeState(statesToInclude_.back()) ) and the same leak was happening.

The = assignment causes segmentation faults if the freeState is applied. If not, another leak arises in the Motion constructor because of RRTstar.cpp line 192, Motion *rmotion        = new Motion(si_), because a new state is being allocated but not freed. There should be any other place I am leaking memory