Rv app

This pull request includes the update to 6D planning and the ability to plan anywhere using the "ghost" object. There are also a few other significant changes:

1) Began work on using AABBs. The environment now uses an AABB in its out of bounds check, so the out of bounds check should function properly.

2) I added virtual plannerToWorld and worldToPlanner state conversions to the general environment class, and the defaults are just the identity functions. I then moved a bunch of code to the general A* planner, which pretty much leaves A* 3D empty. 

Take a look at these changes and if it looks good go ahead and merge