Added a .gitignore to repo
Added a general StateSpace datatype and a function for creating StateSpaces that are subsets of R^n
RRT now takes a general StateSpace.
Added a fast Point2D state space for benchmarking RRT
Fixed warnings from -Wall
Small speedup in Point2DSpace by making Point2D a strict data type
RRT now stops running when it's within a fixed distance from the goal state. By the way, RRT from the prior commits wasn't even being generated correctly at all!
Updated cabal file for new versions of libraries
RRT now returns the full path to the nearest state to the goal. Bugs fixed in RealVectorStateSpace. Now have a test of each of the two spaces.
Fixed a compiler error in prior commit and added a simple motion validity function in RRT2DTest.hs
Added a general discrete motion validator
Added generalized goals, consolidated some code, and fixed a bug with motion checking in RRT
Fixed an error in discreteMotionValid and added a python script for visualizing RRT output
Fixed a few bugs in RealVectorStateSpace and RRT. Moved previous 'tests' into 'Examples'