Adapted to the new variable PACKAGE_NAME; Now PROJECT_NAME it's the name with underscores and PACKAGE_NAME with hyphens

Merge branch 'install_path' of https://gitlab.iri.upc.edu/labrobotica/algorithms/trajectory into install_path

Modified the necessary files to save the headers, the library and all the related files on the subdirectory iri/<package_name>

Implemented the thread in a non-static function.
Tested the execution of several CTrajectory modules at the same time.

Added the option to use move functions without acceleration for those controller that can't directly control it.