Add Bezier curve class to improve connections

[Agustin Alba Chicar]

Add a Bezier class to improve the connections. That would make smoother paths and transitions.

Parent issue #172

[Agustin Alba Chicar]

Added the class. It can interpolate the curve with a parameter t which is in the range of [0;1]. Also, we can query it's first derivative.

[Agustin Alba Chicar]

Added the code to remove loops and adjust convexity given different tangent directions.

[Agustin Alba Chicar]

We need to adapt the class to it matches the proposed interface in #175 .

[Agustin Alba Chicar]

Done.

Moved onto issue #176 to validate it and add them to the RoadMap.