new geometric planning library + doctest assertions

GeometricPlanning/ArticulatedObjectDoorHelper.cpp

GeometricPlanning/ArticulatedObjectDoorHelper.h

...tricPlanning/ArticulatedObjectGeometricPlanningHelper.cpp

GeometricPlanning/ArticulatedObjectGeometricPlanningHelper.h

GeometricPlanning/CMakeLists.txt

GeometricPlanning/ParametricPath.cpp

GeometricPlanning/ParametricPath.h

GeometricPlanning/assert/assert.h

GeometricPlanning/assert/doctest/assert.h

GeometricPlanning/assert/doctest/handler.cpp

GeometricPlanning/assert/doctest/impl.cpp

GeometricPlanning/assert/virtual_robot/assert.cpp

GeometricPlanning/assert/virtual_robot/assert.h

GeometricPlanning/path_primitives/Circle.cpp

GeometricPlanning/path_primitives/Circle.h

GeometricPlanning/path_primitives/CircleSegment.cpp

GeometricPlanning/path_primitives/CircleSegment.h

GeometricPlanning/path_primitives/Line.cpp

GeometricPlanning/path_primitives/Line.h

GeometricPlanning/path_primitives/PathPrimitive.cpp