v0.9.2

Features

• Moved ProjectSpec out of main menge application and into core library
  • facilitates parsing projects in arbitrary contexts.
  • Corrected relationship between command-line parameters and project specification.
  • Added documentation to describe the project specification/command-line configuration.
• Fixed visualization to use a right-handed frame (with z-up).
  • this is significant because, previously, the agents were defined in an x-y plane that was being inverted in the visualizer making visual interpretation difficult. Now the visualization matches the intuition.
• Extended the camera features:
  • cameras can report their current projection.
  • Cameras can be named (with a default name generated by the parser).
• Added new simulation: roadmap_replan. It illustrates the dynamic replanning for the Roadmap velocity component.
• Added ProfileSelector implementations:
  • "random" profile selector. Assigns a profile to a newly created agent by drawing a profile from a set with equal probability.
  • "weighted" profile selector. Assigns a profile to a newly created agent by drawing a profile from a weighted set. The probability of selecting a particular profile is proportional to its relative weight in the set.
  • Adds a new demo (profileSelect) to illustrate how to use the new selectors.
• C-wrapper
  • Added per-agent preferred velocity and state id.
  • Added state introspection (number and names of states).
• Improved documentation
  • Behavior specification
  • Event system (and event effects)
  • Still so much to write....

Bugs

• VelCompRoadmap would allow agents to get stuck if they were pushed far enough away from their path. Fixed to detect this happening and replanning.
• Minor patch in EventEffectAgentStateFactory; corrected error messages.