IrisZo Option to Remove Additional Collisions Once C-Free Fraction is Met

[cohnt]

For IrisZo (and when it's added, IrisNp2), we only add enough hyperplanes to ensure the region is up to a certain percentage collision free (with some probability). However, this can lead to situations where we have known collisions in the region that we do not wall off, since they represent a small enough proportion.

If a user actually wants a region that is as collision-free as possible (as opposed to just trying to reach the fraction), then it would be best to wall off these collisions as well. It would be great if we could have a flag that applies that setting.