Updating code to generate a configuration space map.

Extends code to generate a configuration space map, detect collisions,
generate a map from a png image, and updates the drawRobots and drawMap
functions.
Fixed some bugs with generating the graph.
Put everything together start to end.

Found some bugs and fixed them. Created a pipeline.
Added automatic start/goal determination.

Prompts user to click on graph. Uses that to determine start and goal
positions.