Make optional matches sets and not lists
Change how greedy the greedy planner is

Before this change, for each step taken in the planning process,
a single best plan would be picked, and added to the plan table.
This would prune out any plans covered by the new best plan.
After this change, Ronja picks the best plan per set of covered ids.
This broadens the search space some, and prepares the planner
to be able to find more effective plans for queries with cycles.