IMPLEMENTING dwa, calculation of distance to obstacles coding started
REFACTORED ObstaclesOnLaneDistanceCalculator
IMPLEMENTING angle to target prediction
IMPLEMENTED angle to target evaluation

DwaNavigator/MotionModels.cs: motion over a line and over a circle models are extracted to special classes
DwaNavigator/Velocity.cs: contains linear and angular velocities which are usually go along in DWA project
DwaNavigator/ObstaclesOnLaneDistanceCalculator.cs: refactored to using Velocity class
CONTRACTS added

REFACTORED ObstaclesOnLaneDistanceCalculator uses CircleMotionModel for circle center and radius calculation
IMPLEMENTED dynamic window generation

DwaNavigator/DynamicDiamondGenerator.cs: window is called diamond because it has shape of diamond in v-omega space (it is rectangle in "omega left wheel"-"omega right wheel" space). Rectangle is formed in latter space and then transformed to diamond in former one.
IMPLEMENTING trajectory optimization over velocities space

DwaNavigator\DwaProblemOptimizer.cs: prunes and searches over linear-angular velocity space for velocity with the greatest evaluation, using IDynamicWindowGenerator and IVelocityEvaluator interfaces
DwaNavigator\DynamicDiamondGenerator.cs: refactored, Generate method returns mapping of velocities to corresponding acceleration, which can be passed to motors
REFACTORED AngleToTargetPredictor and ObstaclesOnLaneDistanceCalculator adapted to IVelocityEvaluator iface

DwaNavigator/ObstaclesOnLaneDistanceCalculator.cs: check for velocity admissibility is implemented
RENAMING
IMPLEMENTED composite evaluator and speed evaluator

DwaNavigator\DwaProblemOptimizer.cs: IDynamicWindowGenerator renamed to IVelocitySearchSpaceGenerator
DwaNavigator\DynamicDiamondGenerator.cs: contracts for IVelocitySearchSpaceGenerator implemented
IMPLEMENTED velocities evaluation, smoothing and optimization

REFACTORED velocity search space generation

DwaNavigator\DynamicDiamondGenerator.cs: returns 2-dimensional array of velocity-wheel acceleration pairs, which makes figuring out what wheel acceleration causes what velocity trivial
DwaNavigator\DwaProblemOptimizer.cs:  velocity evaluation matrix smoothing implemented
IMPLEMENTING integrating different DWA pieces into DwaNavigator
RENAMED MathHelper2.Between renamed to BetweenL
REFACTORED max robot velocity and acceleration calculation moved to DwaNavigator, which passes them to other components; DwaProblemOptimizer returns velocities evaluation matrix
FIXED bug in AngleToTargetEvaluator

DwaNavigator\AngleToTargetEvaluator.cs: return angle to target as an evaluation instead of 1 - angle, fixed
DwaNavigator\DwaProblemOptimizer.cs: returns pair of VelocityAcceleration-DenseMatrix objects, VelocityAcceleration facilitates debugging
DwaNavigator\DwaNavigator.cs: semantics changed, Update method resets VelocitiesEvaluation and OptimalVelocity properties as a result
FIXED ObstaclesEvaluator could return negative distance to obstacles for curves with very small radius
CONTRACTS added to DwaNavigator.cs
IMPLEMENTING DwaNavigatorService
REFACTORED rangefinder measurements transformation implemented in DwaNavigator
REFACTORED DwaNavigator became dependent from newly introduced GenericLocalizer service, which allows substituting SimulatedLocalizer in the place of McLrfLocalizer

WaiterStupid/GenericLocalizer.cs: generic interface for Localizer service
WaiterStupid/Pose.cs, SimulationTester/Tests/McLrfLocalizerTests.cs: fix for unexpected (caused by GenericLocalizer) problem with Pose - it somehow transformed to Proxy
Simulation/Simulation.csproj, Dummy_extension.cs: references WaiterStupid, needs dummy for successful compilation
McLrfLocalizer/McLrfLocalizerService.cs: implementation of GenericLocalizer contract
DwaNavigator/DwaNavigatorService.cs: basic implementation plus dependency on GenericLocalizer
Simulation/SimulatedLocalizer/SimulatedLocalizerService.cs, SimulatedLocalizerTypes.cs: implements GenericLocalizer and returns pose from simulation engine