Having trouble designing system
added files
Further development of optimiser
Added scaffolding for functor based polymorphism for walk commands
Fixed walk command finished
Fixed walks run but dont work yet
added roles
Fixed my own stupid conflicts
Fixed walker. Now does not compensate for orientation.
Optimiser done: but YAML is being stupid
Fixed several runtime bugs
Merge branch 'develop' into feature/WalkOptimisation
Walk optimiser is working but commands and synchronisation is buggy
Merge branch 'feature/WalkOptimisation' into develop