'''

''General''' Update to trajectories along with some general changes that allow simulator to be run

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2013, Johnny Mao, gate.py edited to use approach, made by Eliot
Approach.py, and Utility.py changed
Approach.py: Added XZCenter, fixed trivial mistakes
Utility.py: removed some unused classes
Gate.py: Added changes so that the gate is now not dead-reckoning. Need to add a timer so that the robot will shoot for the gate if over a specific time limit.
Approach.py: Added XZCenter, centers the robot on the XZ plane. Fixed trivial mistakes
Utility.py: removed unused states, fixed trivial mistakes.