Trying to minimize the number of IsSafe questions we ask when deciding if a low precision step IsSafe is tricky. I keep finding cases where optimizing this leads to trying to move thorugh obstacles. I explain one case in the file.
I changed num_steps = max_steps here as well. Reason explained in MAStar/MultiScaleAStar.cpp
Adding more tests. Detailing when/ where/ why Adaptive is/ isn't better
Started cleaning up. Massive clean-up soon.