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Added replay functionality and command line arguments
-l <filename> log simulation to file [currently make sure file does not exist, overwriting of files not handled well]
-p <filename> run a log file rather than simulation
-w <filename> load in world file
Cleaned up code, removed all compiler warnings.
added some error checking
Draws polygons in the environment.
added update_rangefinders, which should be enough for the demo tomorrow
works with 20 robots! but its incredibly slow and destroys computersalso fixed a bug in the robot creation code (it didn't init robots array to -1 after a resize)
Motion works, but needs fine tuning.
Fixed bug in iterator.
Threading issues worked out better... Ready to add motion.
Started on drawing robots in the right place.
fixed the environment variable stuff
Free's shared memory in the core file upon error in forking or error in attaching to shared memory
Refactored simulator, set some stuff up to work with multiple robots.