Fixed search bug reported by Matthew Yurka, and others:
* graph_search missed deduping nodes in the frontier * astar_search didn't use 3rd-edition pseudocode * InstrumentedProblem didn't forward the path_cost method, so all the doctest results on instrumented cost-sensitive problems were wrong Also filled in breadth_first_search and per-node memoization of h (to fulfill the doc comment saying that was done). There's a remaining problem that sometimes trivial refactorings change the amount of search that is done, slightly, which should not happen since the code is supposed to be deterministic.
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