building a pastr at a location with high cow growth.
Added an evaluation function for possible pastr locations
Changed the order of HQ computations
Ensure that pastr location is not too close to wall
Soldiers will clump slightly closer around our pastrs
Rallying at the planned pasr location now supercedes controlling the center
Changed a TODO
The bug movement algorithm default direction depends on the parity of the particular robot id
Added logic for map coarsening. It is not yet in use.
Removed debug code.
added useful methods to the MapNode class
First stab at implemented map node navigation
A lot of temporary debug statements and commented out code, but the node navigation is finally working!
Seperating the notion of a rally point and a pastr location, though currently the rally point is still the pastr location
deleted commented out code
calculating and broadcasting a route are two different steps. node routes are not used because the navigation mode is not set.
commented out debug print statements
coarsening will fail if it exceeds max nodes. Setting node adjacency during coarsening so that pathing will be faster.
If coarsen fails we will skip subsquent steps.
doing some testing...