employing CGAL

restructure code, split simulation from walkinggraph, all typedefs go in defs.h
add Particle class

Restructure code. Objects and particles are simulated with Particle class.  ParticleFilter is implemented as a method.
particle passed
refined to component structure, add data file
reading generated successfully
Merge branch 'feature/generate-readings' into develop
Merge branch 'release/generate-readings'