Added support for constrained cassandra POMDPs #37
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Implementation for TAC submission. This allows us to extend the Cassandra POMDP models with another reward function (according to the paper Poupart et al. Approximate Linear Programming for Constrained Partially Observable Markov Decision Processes) so that we can compare with other implementations for constrained POMDPs (CPOMDPs).
Also added a few benchmarks from the mentioned paper with the corresponding low reward bound and constraint threshold.
Added command line option '--constrain-bound' to specify the value of the low reward bound from which the cost reward function is created.