added distance from objects in map to the map class. currently only for circles. collide.cpp was added but not yet implemented.
obstacle collision framework installed
distance from lines in the map class is a work in progress
fixed bug associated with line distance computation. turns out that the absolute value macro should have been used for only single value input
collision detection is now possible. speed and rotation rate update is now independent of update speed.
fixed bug where the robot would spin out of control when going from forward to reverse. Added collision detection and turn the robot circle to red during such an event.