have to add convert codes(OGMap to COccupancyGridMap2D,std::deque<TPoint2D> to Path2D)
add converter OGMap to COccupancyGridMap2D
fix OGMapToCOccupancyGridMap(halfway)
fix converter
planPath was implemented
fix some param
change formulas of way points
become able to output drawable path data
unit of outputs cell -> meter
//
add configuration(robotRadius, maxSearchPathLength)
//
change interface
struct PathPlanParameter {
	//Environmental Map
	OGMap map;
...

interface planPath(in PathPlanParameter param, out Path2D outPath)
Merge pull request #1 from futail2a/master

Planning Path with MRPT