Update Project 4: Planning.
Vectorize Dubins path computation. This is orders of magnitudes faster than the previous implementation, so graph caching is now less necessary. As a result, only graphs for ROS maps are cached; the other test maps are too small to merit the hassle. Fix a serious issue with PlanarProblems. Distances were previously measured in pixels rather than meters. As a result, the connection radius and curvature parameters didn't have a clear physical interpretation, and would differ based on the resolution of the map (the conversion factor between meters and pixels). Add a more efficient edge visualization to RViz, which incrementally sends edges to be visualized. Fix minor bugs with zero edges and zero valid samples. Set a minimum controller speed to avoid issues with reference velocities of zero. This would occur at the end of a path.