1. Added the expandRoadmap function for exploring narrow passages.
2. Set discount factor to 0.99 for faster DP convergence.
3. Constructed graph for narrow passage in env2.
Added more landmarks. Commented out outdated code.
Merge branch 'dev' of github.com:sauravag/FIRM-OMPL into dev
Merge branch 'dev' of github.com:sauravag/FIRM-OMPL into dev
Merge branch 'dev' of github.com:sauravag/FIRM-OMPL into dev
Merge branch 'dev' of github.com:sauravag/FIRM-OMPL into dev
Merge branch 'dev' of github.com:sauravag/FIRM-OMPL into dev
Merge branch 'dev' of github.com:sauravag/FIRM-OMPL into dev
Merge branch 'dev' of github.com:sauravag/FIRM-OMPL into dev
Merge branch 'dev' of github.com:sauravag/FIRM-OMPL into dev
Good Map with narrow passage