moos-ivp-swarm/src_private
==================================
voiview     Convex poly with points, running Lloyds algorithm variants
bngview     Ownship and contact geometry relationships
obview      Obstacle and ship position geometry relationships
voitest     Convex poly and line, testing polychop
voitest_gp  Non-convex poly and line, testing polychop
gridview    Non-convex grid, can modify cell content
bezview     Ship towing a towbody, can move/turn ship to see tow action
freview     Testing Bezier curve math and rendering curve

o voiview (moos-ivp-swarm/src_private)
  The voiview utility renders a convex polygon with several randomly
  placed interior vertices. It will render the Voronoi distribution of
  the vertices and allow the user to step through variants of Llyod's
  algorithm to move the vertices to a more equitable distribution. The
  user may add or delete vertices and re-calculate the
  distribution. This app exercises much of the Voronoi library code
  used in the Voronoi based behaviors and apps, with smaller overhead
  than full vehicle simulations.

o bngview (moos-ivp-swarm/src_private)
  The bngview utility renders two ships, ownship and contact, and
  allows the user to manipulate both and observe properties of their
  relative position that are key to the AvoidCollision behavior. A
  pop-up window may also be opened to visualize the objective function
  created by the AvoidCollision behavior

o obview (moos-ivp-swarm/src_private)
  The obview utility renders an obstacle and ship position and allows
  the user to manipulate both and observe properties of their relative
  position that are key to the AvoidObstacle behavior. A pop- up
  window may also be opened to visualize the objective function
  created by the AvoidObstacle behavior

o voitest  Convex poly and line, testing polychop

o voitest_gp Non-convex poly and line, testing polychop