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