Expanded rewards into SASO and SA, in addition to abstracting the underlying structure of rewards. They are now special, or at least now they are different from state and observation transitions.
Added unit tests for the new rewards classes.
Added policy iteration, and it is almost complete.
Completed value iteration with COIN-OR (CLP) pruning. Still need to do unit tests.
Removed ifdef from test files, since we have moved to a Makefile for our official build.
Completed exact value iteration for finite horizon POMDPs. Unit tests are also complete. It saves the policy to a file, which can be loaded at a later date.
Merged kyle changes to master