Added a new simple instance generator that can generate dense regular grid instances
Added hard constraint phase to SFO planner, SFO uses BumpFunction and refactorizations
KSFO and PP now generate trajectories up to maxtime.
KSFO -k 1 was sometimes willing to accept high penalties instead of returning solution non-existence. Fixed.
Drastic refactoring of the separable optimal flow optimizer (iterative planner) work in progress
Conflict generator can be given a rectangular region in which the conflict should be located.
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