[tryuan99]

This PR adds the agent-related interfaces and base implementations. None of these changes affect the current simulation behavior. I added unit tests for testing the relative transformation calculation between agents. Tested by running all unit tests.

See https://docs.google.com/document/d/1FINN_yEZ02AkopUn-ev0bzoi4oKenHYyIpEO6bSFrlE/edit?usp=sharing for the design doc.

[gemini-code-assist]

Summary of Changes

Hello @tryuan99, I'm Gemini Code Assist¹! I'm currently reviewing this pull request and will post my feedback shortly. In the meantime, here's a summary to help you and other reviewers quickly get up to speed!

This pull request lays the groundwork for a more robust and modular agent system by introducing fundamental interfaces and base classes for agents, their movement behaviors, and control mechanisms. These changes establish a clear architectural pattern for future agent development and integrate agents seamlessly into the existing hierarchical simulation framework, all without altering current simulation behavior.

Highlights

• New Agent Abstractions: Introduced core interfaces (IAgent, IController, IMovement) and their base implementations (AgentBase, ControllerBase, MovementBase) to establish a foundational structure for agent-related logic.
• Hierarchical Integration: Added a HierarchicalAgent class to bridge agents with the existing hierarchical structure, allowing agents to participate in hierarchical strategies. The IHierarchical interface and HierarchicalBase class were also extended to include acceleration properties.
• Controller Refactoring: Renamed the old IController class to IControllerLegacy to make way for the new IController interface, ensuring a clear separation and upgrade path for controller implementations.
• Relative Transformation Logic: Implemented detailed methods within AgentBase for calculating relative position, velocity, and acceleration transformations between agents or to waypoints, crucial for control systems.
• Unit Tests: Added comprehensive unit tests for AgentBase to verify the correctness of the relative transformation calculations and extended HierarchicalBaseTests to cover the new acceleration property.

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✨ Finishing touches

🧪 Generate unit tests (beta)

• Create PR with unit tests
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• Commit unit tests in branch titan/agent_interfaces

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[gemini-code-assist]

Code Review

This pull request introduces a significant and beneficial refactoring of the agent architecture, moving towards a more modular and testable design with interfaces like IAgent, IController, and IMovement. The introduction of base implementations and unit tests is a great step forward. I've identified several areas for improvement, primarily concerning correctness and robustness in the new AgentBase calculations, along with some minor issues in the new tests and base classes. Addressing these points will help solidify the new architecture.

[daniellovell]

lgtm :)