lots of cleanup and simplification in test case construction

@agent/agent.m

@@ -9,14 +9,9 @@ classdef agent
         % State
         lastPos = NaN(1, 3); % position from previous timestep
         pos = NaN(1, 3); % current position
-        vel = NaN(1, 3); % current velocity
-        pan = NaN; % pan angle
-        tilt = NaN; % tilt angle
 
         % Collision
         collisionGeometry;
-        barrierFunction;
-        dBarrierFunction;
 
         % FOV cone
         fovGeometry;
@@ -39,7 +34,7 @@ classdef agent
     end
 
     methods (Access = public)
-        [obj] = initialize(obj, pos, vel, pan, tilt, collisionGeometry, sensorModel, guidanceModel, comRange, index, label);
+        [obj] = initialize(obj, pos, pan, tilt, collisionGeometry, sensorModel, guidanceModel, comRange, index, label);
         [obj] = run(obj, domain, partitioning, t, index, agents);
         [partitioning] = partition(obj, agents, objective)
         [obj, f] = plot(obj, ind, f);