Merge with 76dde0ef7b90fb367431f176b8c150a69d82d3ee
conflict generator can be parameterized to a) create single conflict cluster b) ensure that the instance allows start-goal avoiding paths.
new field in Parameters + renamed maps
Added willow-full and ubremen environment.
added new d-envs.
added bgImage to parameters
Fixed a bug
Conflict generator now generates start-goal avoiding missions using reachability test after a new end point is added.
Conflict generator fixed to generate start-goal avoiding configurations.
GenerateInstance now support parameters -onecluster and -sgavoiding
Cleaned-up conflict generator. Triangulation generator can generate dock positions near the border. Conflicts can be now generated using these "dock" positions loaded from problem xml file.
Added support for visualizing the background bitmap.
Generated new problem instances.
Started the implementation of generalized SIPP. Work in progress.
Added 78_obstacles d-environments
merge and idea files removed from the project
Triangulation works on 78_obstacles
Instance generator support -showvis parameter
Rectangular Bounds -> Polygonal Boundary
CSAIL map works
Fixed the DPM to support k=2
Fixes and improvements of the DPM planner
Added a new simple instance generator that can generate dense regular grid instances