Merge with 76dde0ef7b90fb367431f176b8c150a69d82d3ee
conflict generator can be parameterized to a) create single conflict cluster b) ensure that the instance allows start-goal avoiding paths.
GenerateInstance now support parameters -onecluster and -sgavoiding
Refactoring the conflict generator. Work in progress.
Started the implementation of generalized SIPP. Work in progress.
Added a demo demonstration SIPP with two moving obstacles.
moved SIPP-related stuff to euclidtime3i package