Added anisotropic constraint option
Added disabling of F containers if aniso not specified. Seems to hang on steve's system.
removed unused source code in master branch (leave it in other branches)
Included min step count support for summing kernel
Added containers, values for starting dual direction support. Kernel needs more work.
First fully working (with waypoint + exclusion masks) implementation. Danny Kim approved.
Revert "removed unused source code in master branch (leave it in other branches)"

This reverts commit 6d8adc399ffd749553118b7c82e7ce64215c204b.
Use lockless fifo 'pop' algorithm.