Merge pull request #6 from applyhhj/master

collision avoidance update
reading parameters
building scanmatcher and resampler from configuration
building scanmatcher and resampler from configuration
test commit
building scanmatcher and resampler from configuration
building scanmatcher and resampler from configuration
fixing some errors
change convexhullpoint class
fixing some errors
fixing some errors
change convexhullpoint related class
adding configs
adding configs
fixing some errors
use new double as convex point coordinate
fixing some errors
fixed some error
fixing some errors
fixing some errors and making the distributed code runnable