Reeds shepps approximation interactive test

[ddengster]

Add test for approximation of dubins curves.

• Reversible motions not supported yet.
• Circular arcs are approximated via constructing the control polygon of a b-spline and then converted to hermite spline parameters and input into rmf::Trajectory. The white curve shows the trajectory of the motion.
• These are cherry picked examples since there is no planner yet. Some examples may break as you tweak the parameters.