More robot stuff, start in on path planning and cleanup rmcd a bit. * robots/emc/emcd.c: Update for obstacle-related changes in mtp. * robots/mtp/mtp.x, robots/mtp/mtp.h, robots/mtp/mtp.c, robots/mtp/mtp_send.c: Add messages for requesting/reporting robot sensor contacts, plus some cosmetic changes to the obstacle_config structure. * robots/primotion/garcia-pilot.cc, robots/primotion/pilotClient.hh, robots/primotion/pilotClient.cc: Add support for sending "contact" reports, which contain points where the sensors have detected an object. * robots/rmcd/GNUmakefile.in, robots/rmcd/obstacles.h, robots/rmcd/obstacles.c, robots/rmcd/pilotConnection.h, robots/rmcd/pilotConnection.c, robots/rmcd/rclip.h, robots/rmcd/rclip.c, robots/rmcd/rmcd.c: Cleanup and add in some obstacle avoidance.
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