Maxim Skripnik

Fixes #244 and #245 Changes in this PRs: - Prevent a problem becoming infeasible due to numerical errors by extending the lower and upper bounds if they are very close....

``` PathParametrizationAlgorithm::computePathParametrization(value_type vel_start, value_type vel_end) ``` `vel_start` is the path velocity squared at s=0 `vel_end` is the actual path velocity at s=1 This is not only not documented, but also...