cosmetic planner arena fixes
minor changes
Create consistent behavior across all planners that can optimize paths. Calls to the solve method of RRT*, PRM*, SPARS, SPARStwo, and LBTRRT will terminate when (1) the planner termination condition is true or (2) the optimization objective is satisfied. To make these planners terminate when *any* solution is found, just set the cost threshold for the optimization objective to, e.g., OptimizationObjective::infiniteCost(). The collisionChecks_ progress property was removed from RRT*, since it didn't accurately count the number of calls to the stateValidityChecker.
Add anytime path shortening for goemetric motion planners
Benchmark / Planner Arena doc updates. Do something reasonable when no benchmark db is available in Planner Arena.
merge