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#420 Add Wifi model + communication + path planner to Stage 3.1.x
This contains the port of Wifi model from stage-2.1.1 to libstage in Stage 3.x (svn rev 7729). The output of the wifi model is visualized as lines between robots within radio range as defined by the chosen model. The Friis and raytracing model have been tested (and the other models should be fine too). The wander controller example has been modified to subscribe to the wifi interface. Sample worlds/wifi.world and worlds/wifi.cfg files are provided. Some other files (world.cc, typetable.cc) were also modified to support the wifi model.
List of things added to patch besides WiFi model.
1. Simple inter-robot communication mechanism in libstage that allows robot controllers (examples/ctrl) to register a function to process received data.
2. The robot controllers can register a wifi update callback function in which they can transmit messages to their current radio neighbors (depends on the WiFI model you are using).
3. Planner class -- a wrapper function for the standalone wavefront library from Player-2.2. It also cleans up the code in examples/ctrl/fasr_plan.cc by removing the fltk part from it, removing the dependency on hard-coded map image and by using the new Rasterize function provided by libstage. Depends on player installed on the host.
4. Simple obstacle avoidance class based on the code taken from controller examples.
Added callbacks for robot controllers to free up memory when the container model is destroyed during world UnLoad(). This change is reflected in the new file.
Wifi model+Communication+path planner + memory cleanup callback + bug fix to World::UnLoad
Found a bug in World::UnLoad where it was using the wrong function to delete models from the list of children. Added code to cleanup memory properly at various places where the hash table/list was destroyed without freeing up the elements. Update patch file is attached.