- Policies now use a neighbor distance of 5 (instead of 100).

- Changed the OneWayFlow200 scenario to use a toric world.

examples/OneWayFlow200-Karamouzas.xml

 <?xml version="1.0" encoding="utf-8"?>
-<Simulation delta_time="0.1" end_time="100">
-	<World type="Infinite" />
+<Simulation delta_time="0.1" end_time="200">
+	<World type="Toric" width="60" height="60" />
 	<Policies file="policies/Karamouzas.xml" />
 	<Agents file="agents/OneWayFlow200.xml" />
 </Simulation>

examples/OneWayFlow200-ORCA.xml

 <?xml version="1.0" encoding="utf-8"?>
-<Simulation delta_time="0.1" end_time="100">
-	<World type="Infinite" />
+<Simulation delta_time="0.1" end_time="200">
+	<World type="Toric" width="60" height="60" />
 	<Policies file="policies/ORCA.xml" />
 	<Agents file="agents/OneWayFlow200.xml" />
 </Simulation>

examples/OneWayFlow200-SocialForces.xml

+<?xml version="1.0" encoding="utf-8"?>
+<Simulation delta_time="0.1" end_time="200">
+	<World type="Toric" width="60" height="60" />
+	<Policies file="policies/SocialForces.xml" />
+	<Agents file="agents/OneWayFlow200.xml" />
+</Simulation>

examples/OneWayFlow200-VanToll.xml

+<?xml version="1.0" encoding="utf-8"?>
+<Simulation delta_time="0.1" end_time="200">
+	<World type="Toric" width="60" height="60" />
+	<Policies file="policies/VanToll.xml" />
+	<Agents file="agents/OneWayFlow200.xml" />
+</Simulation>

examples/policies/Dutra.xml

 <?xml version="1.0" encoding="utf-8"?>
 <Policies>
 	<Policy id="0" OptimizationMethod="gradient">
-		<costfunction coeff="20" range="100" name="TtcaDca" sigmaTtca="1" sigmaDca="0.3" sigmaAngle_goal="2" sigmaSpeed_goal="2" />
+		<costfunction coeff="20" range="5" name="TtcaDca" sigmaTtca="1" sigmaDca="0.3" sigmaAngle_goal="2" sigmaSpeed_goal="2" />
 	</Policy>
 </Policies>
\ No newline at end of file

examples/policies/FOEAvoidance.xml

 <?xml version="1.0" encoding="utf-8"?>
 <Policies>
 	<Policy id="0" OptimizationMethod="gradient">
-		<costfunction range="100" name="FOEAvoidance" coeff="3" />
-		<costfunction range="100" name="GoalReachingForce" />
+		<costfunction range="5" name="FOEAvoidance" coeff="3" />
+		<costfunction name="GoalReachingForce" />
 	</Policy>
 </Policies>
\ No newline at end of file

examples/policies/Karamouzas.xml

 <?xml version="1.0" encoding="utf-8"?>
 <Policies>
 	<Policy id="0" OptimizationMethod="sampling" SamplingType="regular" SamplingBase="zero" SamplingBaseDirection="preferred velocity" SamplingAngle="180" SpeedSamples="15" AngleSamples="19" SamplingRadius="maximum speed" RelaxationTime="0" IncludeBaseAsSample="true">
-		<costfunction range="100" name="Karamouzas" />
+		<costfunction range="5" name="Karamouzas" />
 	</Policy>
 </Policies>
\ No newline at end of file

examples/policies/Moussaid.xml

 <?xml version="1.0" encoding="utf-8"?>
 <Policies>
 	<Policy id="0" OptimizationMethod="sampling" SamplingType="regular" SamplingBase="zero" SamplingBaseDirection="preferred velocity" SamplingAngle="180" SpeedSamples="5" AngleSamples="19" SamplingRadius="preferred speed" RelaxationTime="0.5">
-		<costfunction range="100" name="Moussaid" />
+		<costfunction range="5" name="Moussaid" />
 	</Policy>
 </Policies>
\ No newline at end of file

examples/policies/ORCA.xml

 <?xml version="1.0" encoding="utf-8"?>
 <Policies>
 	<Policy id="0" OptimizationMethod="global" RelaxationTime="0">
-		<costfunction range="100" name="ORCA" />
+		<costfunction range="5" name="ORCA" />
 	</Policy>
 </Policies>
\ No newline at end of file

examples/policies/PLEdestrians.xml

 <?xml version="1.0" encoding="utf-8"?>
 <Policies>
 	<Policy id="0" OptimizationMethod="sampling" SamplingType="regular" SamplingBase="zero" SamplingBaseDirection="unit" SamplingAngle="360" SpeedSamples="4" AngleSamples="36" SamplingRadius="maximum speed" RelaxationTime="0.5">
-		<costfunction range="100" name="PLEdestrians" t_min="0.5" t_max="3" />
+		<costfunction range="5" name="PLEdestrians" t_min="0.5" t_max="3" />
 	</Policy>
 </Policies>    
\ No newline at end of file

examples/policies/Paris.xml

 <?xml version="1.0" encoding="utf-8"?>
 <Policies>
 	<Policy id="0" OptimizationMethod="sampling" SamplingType="regular" SamplingBase="zero" SamplingBaseDirection="unit" SamplingAngle="360" SpeedSamples="4" AngleSamples="36" SamplingRadius="maximum speed" RelaxationTime="0">
-		<costfunction range="100" name="Paris"/>
+		<costfunction range="5" name="Paris"/>
 	</Policy>
 </Policies>
\ No newline at end of file

examples/policies/PowerLaw.xml

 <?xml version="1.0" encoding="utf-8"?>
 <Policies>
 	<Policy id="0" OptimizationMethod="gradient" RelaxationTime="0.5">
-		<costfunction range="100" name="PowerLaw" />
-		<costfunction range="100" name="GoalReachingForce" />
+		<costfunction range="5" name="PowerLaw" />
+		<costfunction name="GoalReachingForce" />
 	</Policy>
 </Policies>
\ No newline at end of file

examples/policies/RVO.xml

 <?xml version="1.0" encoding="utf-8"?>
 <Policies>
 	<Policy id="0" OptimizationMethod="sampling" SamplingType="random" SamplingBase="current velocity" SamplingBaseDirection="unit" SamplingAngle="360" RandomSamples="250" SamplingRadius="maximum acceleration" RelaxationTime="0">
-		<costfunction range="100" name="RVO" />
+		<costfunction range="5" name="RVO" />
 	</Policy>
 </Policies>
\ No newline at end of file

examples/policies/SocialForces.xml

 <?xml version="1.0" encoding="utf-8"?>
 <Policies>
 	<Policy id="0" OptimizationMethod="gradient" RelaxationTime="0.5">
-		<costfunction range="100" name="SocialForcesAvoidance" />
-		<costfunction range="100" name="GoalReachingForce" />
+		<costfunction range="5" name="SocialForcesAvoidance" />
+		<costfunction name="GoalReachingForce" />
 	</Policy>
 </Policies>
\ No newline at end of file

examples/policies/VanToll.xml

 <?xml version="1.0" encoding="utf-8"?>
 <Policies>
 	<Policy id="0" OptimizationMethod="sampling" SamplingType="regular" SamplingBase="zero" SamplingBaseDirection="preferred velocity" SamplingAngle="180" SpeedSamples="2" AngleSamples="19" SamplingRadius="preferred speed" RelaxationTime="0.25">
-		<costfunction range="100" name="VanToll" />
+		<costfunction range="5" name="VanToll" />
 	</Policy>
 </Policies>    
\ No newline at end of file