some fixes
edit probability thresholds
add p2 logic
merge
edit constants and stuff
Merge remote-tracking branch 'upstream/master'
Merge pull request #78 from marro10/master

The map will be loaded if the file contestMap.map exists on the director...
add argument to choose which phase to run.
pass phase arg to mapping and graph
param changes
Merge remote-tracking branch 'tobias/master'
Merge pull request #79 from marro10/master

Loading stored map policy changed. Not tested
Merge pull request #80 from tobiasandersson/master

a lot of brain updates and more