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
Now runs at a reasonable speed.
Theta changes now.
Threading issues worked out better... Ready to add motion.
Started on drawing robots in the right place.
Refactored simulator, set some stuff up to work with multiple robots.