Added willow-full and ubremen environment.
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.
Refactoring the conflict generator. Work in progress.
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