Repo Re-Org, More like ROS Package

- Reorganize repo so docker stuff is
  a folder within fast_rrt_ros ROS package
- Update filepaths in README
- Update `build_and_run_docker.bash`
  to use main folder as build context,
  but use Dockerfile inside docker folder
- Update filepaths in Dockerfile

docs/Fast_RRTdocumentation.md

@@ -0,0 +1,97 @@
+# Fast-RRT* Documentation
+
+- [Fast-RRT* Documentation](#Fast-RRT-documentation)
+  - [`FindReachest()`](#findreachest)
+    - [Psuedo Code](#psuedo-code)
+    - [Written Explanation](#written-explanation)
+    - [Visual](#visual)
+  - [`CreateNode()`](#createnode)
+    - [Psuedo Code](#psuedo-code-1)
+    - [Written Explanation](#written-explanation-1)
+    - [Visual](#visual-1)
+  - [`Rewire()`](#rewire)
+    - [Written Explanation](#written-explanation-2)
+    - [Visual](#visual-2)
+  - [`SampleFree()`](#samplefree)
+  - [`Nearest()`](#nearest)
+  - [`Near()`](#near)
+
+## `FindReachest()`
+
+### Psuedo Code
+
+<img src="findReachest.PNG" width="300">
+
+### Written Explanation
+
+Find the furthest possible node of `xNearest`'s parents from `xRand` that does not have an obstacle when a straight line is drawn between them.
+
+The selected node `xReachest` must be chosen from `xNearest`'s ancestors. The starting node may not be selected as `xReachest`.
+
+### Visual
+
+<img src="findReachestSketch.PNG" width="500">
+
+## `CreateNode()`
+
+### Psuedo Code
+
+<img src="createNode.PNG" width="300" >
+
+### Written Explanation
+
+Creates a node (`xCreate`) based on `xRand`, `xReachest`, and parent (`xReachest`) locations such that the path is drawn more near to the obstacle in few steps. Remember that these two nodes are guaranteed to have an obstacle between them.
+
+The node is created between `xRand` and `xReachest` where the path between `xRand` and `xCreate` becomes free of all obstacles.
+
+### Visual
+
+<figure>
+  <img src="Capture1.PNG" width="380" >
+  <img src="Capture2.PNG" width="380" >
+  <figcaption> 1) xAllow and xForbid are set </figcaption>
+</figure>
+
+<figure>
+  <img src="Capture3.PNG" width="380" >
+  <figcaption> 2) xMid is established between xAllow and xForbid when the path is collision free to xRand</figcaption>
+</figure>
+
+<figure>
+  <img src="Capture4.PNG" width="380" >
+  <img src="Capture5.PNG" width="380" >
+  <figcaption> 3) xMid is the new xAllow and xRand is the new xForbid</figcaption>
+</figure>
+
+<figure>
+  <img src="Capture6.PNG" width="380" >
+  <figcaption> 4) a new xMid is established between xAllow and xForbid </figcaption>
+</figure>
+
+<figure>
+  <img src="Capture7.PNG" width="380" >
+  <figcaption> 4) a new xMid is established between xAllow and xForbid when collision free to parent(xReachest) </figcaption>
+</figure>
+
+## `Rewire()`
+
+### Written Explanation
+
+Changes connection relationships of tree vertices.
+For any point in `xNear`, if replacing its parent node to be `xRand` reduces the cost of the path from `xStart` to `xNear`, then replace it.
+
+### Visual
+
+<img src="rewireSketch.PNG" width="150" >
+
+## `SampleFree()`
+
+Returns a sample `xRand` that is selected randomly from xFree.
+
+## `Nearest()`
+
+Nearest vector to `xRand` in terms of Euclidean distance.
+
+## `Near()`
+
+Return the set of vectors contained in specific radius around `xRand`.