C++ implementation of Information Particle Filter Tree algorithm.

The original Julia implementation can be found here

This implementation of the IPFT solver uses the concept of pooling for dynamic memory allocation of State and Observation objects. Therefore, always allocate State and Observation objects through the specified functions in the POMDP model class. Make sure that you do not forget to destroy the objects (again only through the functions in POMDP), when you are done using them.

TODO(max) give example here!