Description of classes

HRVO

• Simulator.*
• Agent.*
• Goal.*
• Kdtree.*
• Vector.*

Previously, HRVO worked only in this way: Create Simulator and then instantiate goals and agents.

• Definition - permanent

• Parameter - not permanent

• Environment - starts one for each robot

• Experiment - starting code

• Model - Alex's inference model

• Tracker - Deals with the tracking information and feeds it to environment.