KSFSO renamed to KDPMD
Fixed broken parts of the code. IIHP is currently broken.
GradientOptimizer seems to work
Gradient Optimizer w.i.p.
Added support for L1 and L2 heuristics
Add a new KSFO test
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.
OD renamed to ODCN
testsuite and instance generator uses the name ODCN
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