Add stage planner tests - #78
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NGA-TRAN
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Since I did not review Rob's work, I do not review the correctness here. However, it is always good to add test infrastructure and the test output looks very reasonable and awesome.
When things are wired up more, I will start understanding stages and tasks and the full system again
robtandy
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Just adds some tests for ensuring that further changes do not break the current logic