Initial version of the min-heap working with small unit test
updated makefile to use c++11
Added remove (min) and decrease key functions to heap, as well as updating of the state heap index
added some more print utils
added model class
added state class
updated model to use states
can now retain/release null meshes safely
fixed some reference stuff
fixed reference stuff and added collision methods
added more math functions
started work on collision algorithm
added some comments
minor fixes to work with c++
added app to visualize motion planner
minor print fix
added include files
fixed git ignore
fixed git ignore
fix git ignore again