Added hard constraint phase to SFO planner, SFO uses BumpFunction and refactorizations
Added support for L1 and L2 heuristics
KSFO and PP now generate trajectories up to maxtime.
Fixed summary outputs
KSFO -k 1 was sometimes willing to accept high penalties instead of returning solution non-existence. Fixed.
Added -k parameter to the solver that controls the number of iterations performed by KSFO
Drastic refactoring of the separable optimal flow optimizer (iterative planner) work in progress
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