Add a-star based global planner

mg_planner/src/obstacleManager.cpp

@@ -0,0 +1,8 @@
+#include "mg_planner/obstacleManager.hpp"
+#include "mg_planner/config.hpp"
+
+namespace mg {
+    bool ObstacleManager::check_collision(glm::ivec2 pos, float size) {
+        return (pos.x >= MIN_X && pos.x < MAX_X) && (pos.y >= MIN_Y && pos.y < MAX_Y);
+    }
+}