Initial Commit
Separate indices for matrices

Removed the single index number that was being used in the C
implementation and brought out a two index system for Numpy arrays.
Still need to find the proper method tomap the LPS to the GPS.
Ceil is a good function

Added it to the methods requiring rounding the coords to integers.
Occupied cells are occupied, vacant are vacant.
Implemented simple navigation control

Using the 'wsad' keys, one can control the up, down, left, and right
controls. Still need to figure out how to increase angle Theta: Keep
getting a floating point division error...