* modernize-shrink-to-fit
* modernize-use-nullptr
* modernize-use-equals-default
* modernize-use-equals-delete
* modernize-unary-static-assert
* modernize-use-bool-literals
* modernize-replace-random-shuffle

    modernize-avoid-bind
    modernize-deprecated-headers
    modernize-redundant-void-arg
    modernize-replace-auto-ptr

check limits in any case after creation of random config

check limits in any case after creation of random config

fixed limitless joint distance in cspace

Some were already using it and this should be uniform to work properly.

improved platform planning demo: showing distance to environment, adding gui widget for smoothing parameter

reduced the number of warnings with -Wall -Wextra -Wpedantic (now < 250 (mostly qhull), before > 10000

Nikolay Fedorov)

Switching to NDEBUG preprocessor define
Tidy up cmake files
Remove some unnecessary checks