fix debug output of unresolved classes
complete replacement of 'probabilistic with simple mhp' by 'LSOD'

Please note: This is a proper replacement, i.e. now a strict LSOD algorithm with precise MHP analysis is used instead of RLSOD with imprecise MHP analysis!
get rid of connection between SDGProgramParts and SDGNodes and move this connection to SDGClassComputation
add caches to make 'program part <-> sdg node'-resolution more performant
more verbose assertion failure
Merge branch 'ipd' into github