simplified window
readme
s/g
pep 8
fixed a* pathfinder
megapatch:
    slight speed improvements in some areas (benchmarks)
    added tests to astar and the planner
    new benchmarks file (incomplete atm)
    astar: fixed pathfinding (for real)
    planning: no longer hangs on unsolvable goals
    agent: no longer plan on every precept; they must be asked to plan
    agent: now accept lists of precepts
    agent: planning lock is no longer needed
    goals: s/g docstrings
    human: s/g docstrings