Parsing Binary Data File

Binary File Parsing with user-defined format.

This function parses binary data according to 'fields name' and 'fields format'
And create struct variable,name is 'data', that has same fields that you passed via argument.
And return 'data'.
This function is not general solution for parsing binary data.
This function is useful when you repeatedly record data in specific format.
For example, you record state of the robot for each sampling steps.
[time in double] [joint x6 in double] [velocity x6 in double]...
and you recorded it for 10000 sampling steps.
Now you can joyfully use this function.