Implemented beluga dynamics and direct control simulation
Switched u2 to radians and limited theta in sim to -pi to pi
Added plot history function
Implemented ROS direct command methods for beluga
Added cell structure to beluga test script
Implemented ros_stop method for beluga
Added option to ignore initial poses when running through ROS with start function
Fixed ros_stop method for Belugas
Updated Test beluga script for live running
Updated direct command converted to use integers as ROS message requires.
Added support for special case of 1 robot.
Added plot support for velocity controllers.
Updated test scripts for belugas for velocity control
Added velocity controller simulator to Belugas class
Switch to load velocity controller parameters with .mat, replacing .yaml
Added dev files for Wp controller
Revising wp law
Functional in simulation wp controller
Proportional parking works, needs tweeking
Fixed Miabot stop command to include hack for one robot.