Updating documentation

Fix CMakeLists.txt

Interpolate now return Pairs (time in path/state)

Fix CMakeLists (properly handle IDL/GCC dependencies)

[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

Fix compilation issues

Conflicts:
	CMakeLists.txt
	src/rbprmbuilder.impl.cc