Initial creation of the lightning framework
Better named lightning files
Add bilinear interpolation
Testing
Fixed interpolation and cost function following
Fixed cost map usage for OMPL's new cost method
Lightning framework requires boost serialization
Created test program for experience database
Added collision checking and got basic database save and recall working
Refactored lightining code
Renamed opt obj, fixed collision features
Better obstacle support
Started to support repair planner
Repair mostly working
Restructured the way cost map is shared
Improved cost function with distance measurement, added new args
end of day
Began to implement dynamic time warping
Implemented dynamic time warping
Made ompl_rviz_viewer header into a library, refactored code