debugged travmap drawing for Cargo-ANTs
added support for drawing robots in configurable colors (good example of how to add stuff to fpplib -- which should be less onerous)
Plotting routes and E* result.  Everything seems fine there.
Not sure why planning sometimes fails... maybe the robot ends up
inside an obstacle due to the coarse resolution.
no need anymore (for quite a long time I think) for these to be public
proper check for infinity