Merge
Merge branch 'master'
2d space interface
Candidate implementation of Space2D
Upgraded Bsp to accept references
Updated all interfaces to new bsp behavior
All space related code now deals with Space2D
Draw space partition for easier debugging
Proper clipping in bsp depending on the side of the child node
Ray tracing: Rays that are aligned with obstacle sides now can not pass through them.
Modified the way obstacles are displayed in plan viewer
Moved example planner to a separate project
Modified searchStrategy's interface to increase flexibility in algorithm implementation.