Cleaning up code

real_time/surface_src/java_src/Alice/build.gradle

@@ -43,7 +43,7 @@ dependencies {
 
     compile project (':BuggyRos')
     //for jason object extraction from strings 
-//    compile 'com.google.code.gson:gson:2.2.+'
+
     compile group: 'com.google.code.gson', name: 'gson', version: '2.2.+'
     compile 'jfreechart:jfreechart:1.0.0'
     compile 'gov.nist.math:jama:1.0.2'

real_time/surface_src/java_src/Alice/src/main/java/com/roboclub/robobuggy/nodes/localizers/KfLocalizer.java

@@ -135,48 +135,6 @@ public synchronized void actionPerformed(String topicName, Message m) {
                 }
             });
 
-		/*
-        new Subscriber(
-			"HighTrustGpsLoc",
-			NodeChannel.IMU_ANG_POS.getMsgPath(),
-			((topicName, m) -> {
-
-				IMUAngularPositionMessage mes = ((IMUAngularPositionMessage) m);
-				// double y = mes.getRot()[0][1];
-				// double x = mes.getRot()[0][0];
-				double[][] xVar = { { 1 }, { 0 }, { 0 } };
-				double[][] yVar = { { 0 }, { 1 }, { 0 } };
-				Matrix xMat = new Matrix(xVar);
-				Matrix yMat = new Matrix(yVar);
-				Matrix rot = new Matrix(mes.getRot());
-				double x = rot.times(xMat).get(0, 0);
-				double y = rot.times(yMat).get(0, 0);
-				double th = -(Math.toDegrees(Math.atan2(y, x)) - 90);
-				double[][] observationModel = { { 0, 0, 0, 0, 0, 0, 0 }, // x
-						{ 0, 0, 0, 0, 0, 0, 0 }, // y
-						{ 0, 0, 0, 0, 0, 0, 0 }, // x_dot_b
-						{ 0, 0, 0, 0, 0, 0, 0 }, // y_dot_b
-						{ 0, 0, 0, 0, 1, 0, 0 }, // th
-						{ 0, 0, 0, 0, 0, 0, 0 }, // th_dot
-						{ 0, 0, 0, 0, 0, 0, 0 } // Heading
-				};
-
-				double[][] meassurement = { { 0 }, { 0 }, { 0 }, { 0 },
-						{ th }, { 0 }, { 0 } };
-				double[][] updateCovariance = { { 1, 0, 0, 0, 0, 0, 0 }, // x
-						{ 0, 1, 0, 0, 0, 0, 0 }, // y
-						{ 0, 0, 1, 0, 0, 0, 0 }, // x_dot
-						{ 0, 0, 0, 1, 0, 0, 0 }, // y_dot
-						{ 0, 0, 0, 0, 1, 0, 0 }, // th
-						{ 0, 0, 0, 0, 0, 1, 0 }, // th_dot
-						{ 0, 0, 0, 0, 0, 0, 1 } // heading
-				};
-				// updateStep(new Matrix(observationModel),new
-				// Matrix(meassurement),new Matrix(updateCovariance));
-
-			}));
-			*/
-
         // TODO note that we will probably run into precision errors since the
         // changes are so small
         // would be good to batch up the encoder updates until we get a margin

real_time/surface_src/java_src/Alice/src/main/java/com/roboclub/robobuggy/robots/ControllerTesterRobot.java

@@ -54,8 +54,6 @@ private ControllerTesterRobot() {
         RobobuggyGUITabs tabs = new RobobuggyGUITabs();
         mainWindow.addComponent(tabs, 0.0, 0.0, 1.0, 1.0);
         tabs.addTab(new MainGuiWindow(), "Home");
-        //	tabs.addTab(new PoseGraphsPanel(),"poses");
-        //	tabs.addTab(new  AutonomousPanel(),"Autonomous");
         tabs.add(new PathPanel(), "Path Visualizer");
         tabs.addTab(new ConfigurationPanel(), "Configuration");
     }

real_time/surface_src/java_src/Alice/src/main/java/com/roboclub/robobuggy/simulation/PlayBackUtil.java

@@ -137,7 +137,6 @@ public static Message parseSensorLog(JsonObject sensorDataJson, Gson translator,
                 break;
             case DriveControlMessage.VERSION_ID:
                 transmitMessage = translator.fromJson(sensorDataJson, DriveControlMessage.class);
-//                getPrivateInstance().driveCtrlPub.publish(transmitMessage);
                 break;
             case EncoderMeasurement.VERSION_ID:
                 transmitMessage = translator.fromJson(sensorDataJson, EncoderMeasurement.class);