Checking the values of halton sequence.
Not adding nodes to roadmap if a close enough neighbor is already there.
Removed unused patterns code.
Saving the roadmap between runs

+ moved gitignore file
More samples in the roadmap.
First attempt at including a non unit path cost.
Path smooting tweaks.
Using state cost when selecting candidate nodes for connecting to roadmap.
Tiny refactoring for roadmap loading and building.