rm style-configs

Merge pull request #24 from joshhting/master

Implemented adaptive stepsize control

major refactoring. Added StateSpace class and eliminated RRT callbacks

added limit to waypoint cache size

this should improve the effectiveness of the waypoint cache

implemented waypoint cache. closes #6

added `make tests` for running unit tests

fixed some issues in Tree.getPath()

removed apt-get upgrade from travis

using `apt-get install` instead to upgrade cmake