Support turn costs in 2024 default planner

[dharabor]

As previously discussed, the new default planner needs to account for turn costs. The required changes are at two levels:

1. Expander needs to updated, to consider turn actions
2. State description needs to be updated, to add agent direction
3. Heuristic tables need to be extended, from (x, y) to (x, y, \vec{v}) where \vec{v} is a unit vector describing the agent's orientation.

[YueZhang-studyuse]

update in branch 2024develop-pibt-turn, in evaluation

[nobodyczcz]

comments on 2024-9-6 Test the turning implementation

• with first come first server task assignemnt
• with minimal makespan task assignment.

[dharabor]

What's the status of this one? I think we implemented (1) and (2) but not (3), is that right? @YueZhang-studyuse