Restructured the SBA* algorithms completely. Created motion-graph connector and lazy-connector. Everything compiles (not tested).
Switched the RRT* to the new motion-graph connectors. Switched many property maps as bundle-to-property (as opposed to vertex-to-property).
Started a pooled-adjacency-list adaptor (seems a bit troublesome). Started the branch-and-bound connector (must assume persistent vertex descriptors).
Updated the PRM and FADPRM algorithms to use new connection strategy. Created unified SBMP visitor concepts.
Cleaned up all the graph-alg motion-planning algorithms. Put most visitor-concepts in separate file. Reduced header inclusions.
Reimplemented the pooled-adj-list to use linked-list of holes (like Boost.Pool). Tested pooled-adj-list in test program and planners.
Tested the branch-and-bound on RRT* algorithm. Fixed from issues in pooled-adj-list. And found/fixed a bug in the get-vertex and erase function of the DVP-tree implementation.
Fixed issue in COB-tree. Created unit-test for BGL-style trees.
Restructured the path-planning option flags. Updated all planners and the programs that use them.
Added bnb to sbastar-planner. Fixed a couple of issues in end applications.
Added bnb to test-planners. The monte-carlo driver seems a bit broken. There is still an issue with DVP remove method.
Fixed dvp-tree get-vertex. Fixed a few issues in sbastar.