started implementing functions, added simple 8 connected motion primitives
added make rules for Environment and Graph
implemented Environment and added some getters
added construtor
added priority queue object
tweaked to use new Environment file, confirmed it works with it
changed sig
added make rule for planner
added source for Planner
implemented isGoalState
fixed wrong dependancies
added constructor
fixed compile bug with not dereferencing pointer
added a state space for fast contains checks
implemented plan function
added assignment operator
added assignment operator
completed the plan function, rewrote heap implementation for decrease key operations, added function header for unwinding the plann
added code to create planner and graph objects and begin a plan