Lots of changes to MultiScaleAStar... integrated multi-precision support for various motor/sensor tolerances. Fixed a number of bugs that were causing the search to perform worse than the regular A* version.
Updated test cases for AStar and MAStar. Added new EqualMP function to Element.cpp that takes a map as a precision argument, so each motor can be treated differently. Removed old files from the AStar directory that are no longer used. MAStar is not fully functional yet-- it doesn't work for initial step sizes > 1. Will fix in next commit.
Merge branch 'master' of https://github.com/hayesbh/Social-Hierarchical-Learning
Made final bugfixes to MAStar and changes to GTests. Added tracker for field count, which we may want to monitor later (esp. for more complicated/crowded environments)