fixed dijkstra memleak

new dijkstra interfaces and abort options
refactored all files accordingly
enable logging via compile-time defines

tests/nav/dijkstra/TestDijkstra.cpp

@@ -31,7 +31,7 @@ TEST(Dijkstra, build) {
 	} tmp(grid);
 
 	Dijkstra<GP> d;
-	d.build(grid[idx5], grid[idx3], tmp);
+	d.build(&grid[idx5], &grid[idx3], tmp, 99999);
 
 	// start node must be "idx5"
 	DijkstraNode<GP>* n = d.getNode(grid[idx5]);
@@ -98,7 +98,7 @@ void dijkstra(Grid<GP>& grid) {
 	} tmp(grid);
 
 	Dijkstra<GP> d;
-	d.build(grid[0], grid[0], tmp);
+	d.build(&grid[0], tmp);
 
 }