Gained some speedups in RRT with strictness and inlinging
Changed to using mersenne twister for default random generator in RRT
StateSpace now assumes usage of the PureMT random generator, meaning we can get rid of all those RandomGen type variables all over the place.
Added some preliminary PRM routines
Added voronoi-biased state sampling to roadmaps. Also renamed some fields in StateSpace
Have dijkstra shortest paths compiling with generalized costs
Costs are now assumed to be ordered monoid. Lots of stylistic cleanups have also been performed using HLint.
Motion validity is now separate from MotionPlanningProblem, since roadmap generation doesn't need the full MPP definition.
Added functions for building kRRG and RRG and for solving a roadmap query
Fixed multiple bugs in PRM and RRG implementations
Added a function to compute the cost of a path. Renamed StateSpace module to MotionPlanningProblem.