Local-plan_undi structure for border_step.
In this context, a border_step represents an
edge with an associated moving direction.
Namely, each edge e=(v1,v2) has associated
exactly two border_steps: 'bs1' moving from v1
and 'bs2' moving from v2. Nodes v1 and v2 are
called 'start' ('stop') of border_steps bs1(bs2)
and bs2(bs1), respectively
(don't confuse with the start and stop nodes
of directed edges). bs1(bs2) is said to be the
the 'opposite' border_step of bs2(bs1).
Also, the right face that we see moving along
edge e from node v1(v2) will be called the
'face of border_step bs1 (bs2)'.
Finally, edge e is called 'edge of border
steps bs1 and bs2'.
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