agents now share role knowledge
lots of debug code for knowledge sharing.

misc bug fixes in handle percepts
Fixed the bug in calc of heu
changed design in calc desires to behave like expected

changed to single self node heuristic
Updated heuristic to be more accurate
Merge branch 'Release/MileStone3/debug' of https://github.com/srnjcbsn/Beduin into Release/MileStone3/debug
added planning ability to change the state
better debugging prints added for KM.

added debugging prints (critical) to show timings for heuristic calcs

enabled critical logging

lowered zone origin value from 10 to 9
Merge branch 'Release/MileStone3/debug' of https://github.com/srnjcbsn/Beduin into Release/MileStone3/debug
Implemented mappings from goals to heuristics, goal tests and allowed actions. Compiles
Fixed handling Explored goal when given a vertex
Fixed goal test for when an agent wants to explore a specific node (equivalent to goal "At vert")
Fixed missing match case, cleaned up some code
less intention spam
less sharing spam by using clearing
Begun work on heuristics fix
Merge branch 'Release/MileStone3/debug' of https://github.com/srnjcbsn/Beduin into Release/MileStone3/debug
* Purified code(EI removed legacy code)
* Fixed heuristic calculations
* Fixed timer on MasterCommunicator
Removed silly logging
Fixed bug with project need higher version of Fsharp.core
Changed "Recharge" goal to "Charged charge" goal, where charge is the desired charge, or None.