Visibility-based Planner

1. The collision checker receives mpkConfigs.
2. bool prmPlanner::isVisible(mpkConfig& q0, mpkConfig& q1)
3. bool prmPlanner::inCollision(mpkConfig& q)
4. void prmPlanner::Sample(prmMilestone& m, prmSampler* s)
5. int main()
   {
   vector > Guards;
   for(int i=0;i<10;i++){
   vector g;
   g.push_back(10);g.push_back(20);g.push_back(12);
   Guards.push_back(g);
   }
   for(int i=0;i<10;i++){
   for(int j=0;j printf("%i\t",Guards[i][j]);
   printf("\n");
   }