Interpolate now return Pairs (time in path/state)

[API] interpolateBetweenStates has new optional parameter to define number of optimizations to run between states

Interpolate now return Pairs (time in path/state) rather than just the states + added API to call state interpolation with user defined root path

[API] interpolateBetweenStates has new optional parameter to define number of optimizations to run between states

create affordance map object within bindShooter (). Initialised only in createPathValidation --> is this a good idea?