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Acceleration-based policy definition

VAN TOLL Wouter requested to merge acceleration-based into master
  • A Policy now computes an acceleration instead of a new velocity. This is more in line with the I3D 2020 paper.
  • The role of the agent mass has changed, and the default mass is now 1.
  • The agent's acceleration and velocity are now clamped at a more logical point in the simulation.
  • Added CostFunction::GetGradientFromCurrentVelocity(), which can improve efficiency.

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