* Full implementation of gnuplotter write routine.

* Some changes to the debug output.

Signed-off-by: swordmaster2k <b00056835@student.itb.ie>
+ Added dedicated functions for printing state and debug info, removed
  the bulky repeated code statements from the planner and replaced
  them with function calls.

Signed-off-by: swordmaster2k <b00056835@student.itb.ie>
+ Added an Abstract super class for all connection types called Connection.

* Changed the BluetoothConnection class to inherit the new Connection.

Signed-off-by: swordmaster2k <b00056835@student.itb.ie>
+ Automated the generation of PNG images from gnuplot in the gnuplotter
  module.

* Refactoring in the connection modules.

+ Some additions made to system class diagrams.

Signed-off-by: swordmaster2k <b00056835@student.itb.ie>
* More work on the gnuplotter PNG output, now deals with all the paths
  in a file and obstacles in the environment.

Signed-off-by: swordmaster2k <b00056835@student.itb.ie>