Added obstacles with external configuration

Signed-off-by: Baudouin Duthoit <baud.duthoit@gmail.com>
Corresponding executable

Signed-off-by: Baudouin Duthoit <baud.duthoit@gmail.com>
Obstacles roughly working

Signed-off-by: Baudouin Duthoit <baud.duthoit@gmail.com>
Executable + useless variable taken out

Signed-off-by: Baudouin Duthoit <baud.duthoit@gmail.com>