Porting data structures

[PFGimenez]

First we need to port some data structures. Java sources : https://github.com/PFGimenez/The-Kraken-Pathfinding/tree/kraken-cpp/core/src/main/java/pfg/kraken/struct

• XY and XY_RW should be merged. XY_RW is a writable structure and XY is a read-only one.
• XY must be serializable
• XYO and ItineraryPoint are mainly used for a neat API
• Cinematique should be renamed Kinematic
• CinematiqueObs should be renamed SolidKinematic
• The double should be ported into float
• The public member variables in Cinematique and CinematiqueObs should be made private with appropriate getters. (This doesn't apply to XYO and ItineraryPoint)

English is the mandatory langage, please translate any french words. Remember to comply with ROS style guide

[PFGimenez]

I take care of ItineraryPoint

[kay0u]

XYO is for me

[kay0u]

And Kinematic