Declared the Model class, where all the inferencing and probabilistic reasoning will occur. Will need to move inference functions and methods from Environment into Model. Model class will be instantiated for each hypothesis, and the required simulators will be generated in the Environment
Added enable planner parameter, so modelling and tracking can be carried out independent of robots, substitude goal inference calculation with inverse of the distance squared for higher likelihood values, fixed the only but big memory leak thanks to Fabio, added flag to disable screen clearing for console debugging in some cases