Added Geometric option to robot type.
Change initial values of Start and Goal.

having the start and goal the same initially isn't very useful.
scaffolding code change to allow for diff Robots

We were passing the car to MainWindow. Now we get it from GUI. 

I also merged several scaffolding setters into one set_planner_options
Working demo with Geometric and Control type

Tested several dozen times. This should close #46
Screenshots from testing demo

Issue #46 is a working demo. I've "stress tested it"

I had the occasional seg fault... which should't happen in python.
I believe the issue is fixed but more testing should be done.


This is the last sub task for #44 and closes #44.