sbpl/sbpl — pull request #26 by robotman0 (2014-08-17 00:14:55+00:00)
Title: added lazy backward search for xytheta. also fixed some simple bugs with...

... backward planning in lazyARA. it runs but doesn't seem to return the same path cost as forward search. Also may have fixed a bug in path reconstruction when the goal is found but not expanded before time runs out.