New Handlers, renamed files, and renamed classes

Renamed PathPlannerRRTDipole to DipolarRRT.
Created DipolarRRTController and DipolarDrive. (Still need debugging)
Added circular robot constructor to DipolarRRT
Renamed several classes in DipolarRRT to have RRT in front (i.e. RRTMap
vs MapRRT)
Split DipolarRRT file into different files.

Also placed Node class within DipolarRRT class
Split DipolarRRT into another file.
Fixed bugs in DipoleRRT related handlers
Temporary hack to simple simulator
Plot dir changed file names
Update to simple example's config
Changed file name

added "_" to front of files that is not a motion controller but more of
a helper
Updated imports to match new file names
Several changes to DipolarRRTController

Added init parameters for robot type and distance interval between nodes
Added hole support
Goal poses now based on transition face and normal
Methods for getting region polygons and goal poses
Methods for getting robot based on predefined robot types

Added backLen to RRTRobot class in order to account for amount to enter
region.
Read extended

Fixed bugs with dipolar controller
Added init parameters
Made modified DipoleRRT to share parameters with DipoleRRTController in
a cleaner manner
Fixing issues in DipoleRRT having to do with close enough and actual
path
Updated DipolarRRTController to match DipolarRRT
Added option to inverse the Y when plotting