Fix T43259: Mocap Tools - Index out of range in "Samples to Beziers"

Main issue was that the addon did not handled 'sampled_points' at all.
Now it converts such curves back to keyframes ones first.
This might not be optimal, but avoids having too different read logic,
and we cannot do anything to sampled fcurves from python anyway...

Also did some other fixes/enhancements:
* Fixed behavior with groups of fcurves when they did not have same keyframes
  (was giving full crappy results with odd offsets).
* In `fitCubic()`, do not call `maxErrorAmount()` twice unless it's really needed.
* Use 'fast' remove/insert of keyframes!
* Use comprehensions to generate the init points data, saves some code lines
  and is usually quicker.

Note performance gains (though mesurable) are not so fancy, we could probably
optimize much more by avoiding to use that custom nD vector class and all
(and probably even much much more by using numpy), most of the time being
spent inside complex math helpers, but for now it should work as expected at least.

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