EpxlorerFindPath implemented
Merge branch 'master' of https://github.com/veget88/VacuumES_EnvironmentB
Merge branch 'master' of https://github.com/veget88/VacuumES_EnvironmentB
Merge branch 'master' of https://github.com/veget88/VacuumES_EnvironmentB
wantToCFAway and sTOFA first impl. to be tested