Removed all potentially useless code, started refactoring.
Moved more stuff over.
Refactoring
More refactoring
Increase formatting line width to 120.
 - adding estimators and pdfs
 - finally created the necessary estimators and simplified the basic objects
 - more changes toward a working particle filter
 - changed error learning to forward movement
 - broke apart the motion and path states
 - mocked up the particle filter, included the JTS graph implementation
 - continued merging old tests and simulation code
 - added tests to tracked files
 - removed unnecessary classes
 - added simulation test, started debugging the particle filter
 - more fixes and test inclusions
 - more fixes, introduced graph edge segments, still working on tests
 - started a test for road transitions
 - started creating bootstrap tests
 - a little refactoring, added/finished bootstrap tests