Changes heuristic function to Euclid distance
Deletes "end if/for/while" comments
Merge branch 'master' of https://github.com/SupelecRobotics/RobotsSUMO2017
changes clear path recognition to a more narrow area
fixes a bug where shortcut finding would give a suboptimal result
fixes an oversight in distFromLine : distances are now float instead of int
unimportant