JavaAutopilot, Documentation Structure

.gitlab-ci.yml

@@ -6,46 +6,44 @@ stages:
 - linux
 - integration-test
 
-#masterJobLinux:
-#  stage: linux
-#  image: maven:3.6-jdk-8
-#  before_script:
-#  - apt-get update
-#  - apt-get install -y openjfx
-#  script: 
-#  - mv lib/fmu_for_linux/*.fmu lib/
-#  - mvn -Dorg.slf4j.simpleLogger.log.org.apache.maven.cli.transfer.Slf4jMavenTransferListener=warn -B  clean deploy sonar:sonar --settings settings.xml
-##  - cat report/target/coverage-report/html/index.html
-#  only:
-#  - master
- 
-masterJobWindows:
-  stage: windows
-  script:
-  - mvn -Dorg.slf4j.simpleLogger.log.org.apache.maven.cli.transfer.Slf4jMavenTransferListener=warn -B  clean deploy --settings settings.xml
-  - mvn package sonar:sonar -s settings.xml
-  tags:
-  - Windows10_OS
-  only:
-  - master
-  
-branchJobWindows:
- stage: windows
- script:
- - mvn -Dorg.slf4j.simpleLogger.log.org.apache.maven.cli.transfer.Slf4jMavenTransferListener=warn -B  clean install --settings settings.xml
- tags:
- - Windows10_OS
- except:
+MasterJobLinux:
+ stage: linux
+ image: maven:3-jdk-8
+ script: 
+ - mvn -B clean deploy sonar:sonar -s settings.xml
+ #- cat report/target/coverage-report/html/index.html
+ only:
  - master
 
-# BranchJobLinux:
-#   stage: linux
-#   image: hwzzz/openjdk-openjfx:latest
+BranchJobLinux:
+  stage: linux
+  image: maven:3-jdk-8
+  script:
+  - mvn -B clean install -s settings.xml
+  #- cat report/target/coverage-report/html/index.html
+  except:
+  - master
+ 
+# masterJobWindows:
+#   stage: windows
 #   script:
-#   - mvn -Dorg.slf4j.simpleLogger.log.org.apache.maven.cli.transfer.Slf4jMavenTransferListener=warn -B  clean install --settings settings.xml
-#   - cat report/target/coverage-report/html/index.html
-#   except:
+#   - mvn clean deploy -s settings.xml
+#   - mvn package sonar:sonar -s settings.xml
+#   tags:
+#   - Windows10_OS
+#   only:
 #   - master
+  
+# branchJobWindows:
+#  stage: windows
+#  script:
+#  - mvn -Dorg.slf4j.simpleLogger.log.org.apache.maven.cli.transfer.Slf4jMavenTransferListener=warn -B  clean install --settings settings.xml
+#  tags:
+#  - Windows10_OS
+#  except:
+#  - master
+
+
 
 #IntegrateionTest:
 #  tags:

README.md

 # Simulation
-![pipeline](https://git.rwth-aachen.de/monticore/EmbeddedMontiArc/simulators/simulation/badges/master/build.svg)
-![coverage](https://git.rwth-aachen.de/monticore/EmbeddedMontiArc/simulators/simulation/badges/master/coverage.svg)
 
-This repository includes the classes for the management of the simulation, the physics computations, the environment, the sensors and the vehicles.
+## [Documentation for this project](docs/documentation/readme.md)
 
-Discrete time steps are used to advance the simulation.
+To use the different sub-project as maven dependency, add the following to your pom's `<dependencies>`:
 
-The environment is created by parsing OpenStreetMap data.
-
-# Vehicle Dynamics Model
-
-A vehicle dynamics model is used to calculate the physical behaviour for a car in the simulation. This vehicle dynamics model is modeled in Modelica and then compiled into functional mock-up units. These units are then accessed and used in the `VehicleDynamicsModel` class.
-
-To compile updated Modelica models into functional mock-up units, the _.mo_ files (the models) have to be exported via FMI into a _.fmu_ file using the OpenModelica Connection Editor v.1.12.0 (64-bit).
-
-__NOTE:__ When new fmu's are added to the simulation, the _deployment.bat_ that copies the fmu's into the SmartFoxServer has to be updated as well.
-
-The settings are:
-* Version: 2.0
-* Type: Co-Simulation
-* Platform: Static
-
-# Simulation Debugging and Debug Plotter
-
-To quickly debug the simulator, a simulation can be configured and executed without starting up the server. An example is given in the `firstTest()` jUnit test in the `SimulatieVehicleTest` test class.
-
-The debug plotter can be used to visualize a simulation that contains only __one__ physical vehicle. A use case for the debug plotter is also given in `firstTest()`. The plotter is registered to the simulation as an observer and is then generating one visualisation chart for each loop iteration.
-
-# Height data
-Height data is read from SRTM files, which are documented [here](https://dds.cr.usgs.gov/srtm/version2_1/Documentation/SRTM_Topo.pdf). Additional height data files can be downloaded from [this source](https://dds.cr.usgs.gov/srtm/version2_1/SRTM3/), where you need to select the continent and then search for the file you need. The file name format is dependent on latitude/longitude and defined as `[N/S][<LAT>][O/W][<LONG>].hgt`.
-
-Each file contains data until the next higher latitude/longitude. For example file N50E006.hgt will cover all pairs of (latitude,longitude) from (50,6) to (51,7) (with resolution 3/3600=0.000833).
-
-To determine min/max latitude/longitude, the file names of all loaded height data files need to be parsed according to the described format and then compared to find the lowest/highest values. Let's say N50E006.hgt and N51E006.hgt are loaded, then you would get minLat=50, minLong=6, maxLat=52, maxLong=7.
+```xml
+<dependency>
+    <groupId>montisim</groupId>
+    <artifactId>"sub-project name"</artifactId>
+    <version>${revision}</version>
+</dependency>
+```

doc_structure.md

+# README
+
+- Link to documentation
+- How to include in other projects
+
+# Documentation
+
+- Introduction
+- How to build
+- Structure Overview
+- Link to commons documentation
+
+## Environment
+
+- World
+- Osm
+- Pathfinding
+
+## EESimulator
+
+- EESimulator/Structure
+- Components/Component Manager
+- Discrete Events system/Events
+- Messages/Types
+- EE Setup / Validation
+- Creating new components
+- Buses, Bridges
+- Sensors, Actuators
+
+## Vehicle
+
+- Structure
+- DynamicObject/PhysicalValues
+- Physics Model
+- PowerTrain
+- Builder/Config/Properties
+
+## eecomponents
+
+- Navigation
+- Autopilots
+
+## Simulator
+
+- Simulator/Loop
+- Vehicle Configs
+
+## Debug Visualization
+
+- Viewer, SimulationRunner/Control
+- Renderers
\ No newline at end of file

docs/documentation/debugvis.md

+[Documentation Root](readme.md) | [Previous (Simulator)](simulator.md)
+
+# Debug Visualization
+
+## Viewer, SimulationRunner/Control
+## Renderers
\ No newline at end of file

docs/documentation/eecomponents.md

+[Documentation Root](readme.md) | [Previous (Vehicle)](vehicle.md) | [Next (Simulator)](simulator.md)
+
+# EEComponents
+
+## Navigation
+## Autopilots
\ No newline at end of file

docs/eesimulator.md → docs/documentation/eesimulator.md

-[//]: # (These documents are best viewed in their formatted form, e.g. in the online gitlab file viewer.)
+[Documentation Root](readme.md) | [Previous (Environment)](environment.md) | [Next (Vehicle)](vehicle.md)
+
+TODO
+- EESimulator/Structure
+- Components/Component Manager
+- Discrete Events system/Events
+- Messages/Types
+- EE Setup / Validation
+- Creating new components
+- Buses, Bridges
+- Sensors, Actuators
 
 # EESimulator
 
-> *__EE__ comes from "Electrical & Electronic Systems"*
-
 The `EESimulator` sub-project handles the transmission and processing of **discrete events** inside a vehicle. These discrete events mainly have the form of **messages** between **ee-components** across communication **buses**.
 
+> *__EE__ comes from "Electrical & Electronic Systems"*
+
 ## Usage
 
 Users of this sub-project can either instance the `EESimulator` as part of their vehicle or inherit the `EEComponent` class to create new components that work inside the ee-vehicle.

docs/documentation/environment.md

+[Documentation Root](readme.md) | [Previous (EESimulator)](eesimulator.md) | [Next (Vehicle)](vehicle.md)
+
+# Environment
+
+## World
+## Osm
+## Pathfinding
\ No newline at end of file

docs/documentation/readme.md

+[//]: # (These documents are best viewed in their formatted form, e.g. in the online gitlab file viewer.)
+
+# Simulation Documentation
+
+## Sub-Projects
+
+- [Environment](environment.md)
+- [EESimulator](eesimulator.md)
+- [Vehicle](vehicle.md)
+- [EEComponents](eecomponents.md)
+- [Simulator](simulator.md)
+- [Debug Visualization](debugvis.md)
+
+[Documentation]() of the `Commons` project TODO LINK
+
+## Introduction
+
+
+
+## How to build
+
+## Structure Overview
\ No newline at end of file

docs/documentation/simulator.md

+[Documentation Root](readme.md) | [Previous (Vehicle)](vehicle.md) | [Next (Debug Visualization)](debugvis.md)
+
+# Simulator
+
+## Simulator/Loop
+## Vehicle Configs
\ No newline at end of file

docs/documentation/vehicle.md

+[Documentation Root](readme.md) | [Previous (EESimulator)](eesimulator.md) | [Next (EEComponents)](eecomponents.md)
+
+# Vehicle
+
+## Structure
+## DynamicObject/PhysicalValues
+## Physics Model
+## PowerTrain
+## Builder/Config/Properties
\ No newline at end of file

docs/img/documentation.svg

+<?xml version="1.0" encoding="UTF-8"?>
+<svg xmlns="http://www.w3.org/2000/svg" width="125" height="20">
+    <linearGradient id="b" x2="0" y2="100%">
+        <stop offset="0" stop-color="#bbb" stop-opacity=".1"/>
+        <stop offset="1" stop-opacity=".1"/>
+    </linearGradient>
+    <mask id="anybadge_1">
+        <rect width="98" height="20" rx="3" fill="#fff"/>
+    </mask>
+    <g mask="url(#anybadge_1)">
+        <path fill="#b0dbfc" d="M0 0h98v20H0z"/>
+        <!-- <path fill="#4c1" d="M97 0h28v20H97z"/> -->
+        <path fill="url(#b)" d="M0 0h125v20H0z"/>
+    </g>
+    <g fill="#fff" text-anchor="middle" font-family="DejaVu Sans,Verdana,Geneva,sans-serif" font-size="11">
+        <text x="49.5" y="15" fill="#010101" fill-opacity=".3">Documentation</text>
+        <text x="48.5" y="14">Documentation</text>
+    </g>
+</svg>
\ No newline at end of file

simulator/src/main/java/de/rwth/montisim/simulation/simulator/autopilots/JavaAutopilot.java → eecomponents/src/main/java/de/rwth/montisim/simulation/eecomponents/autopilots/JavaAutopilot.java

 /* (c) https://github.com/MontiCore/monticore */
-package de.rwth.montisim.simulation.simulator.autopilots;
+package de.rwth.montisim.simulation.eecomponents.autopilots;
 
 import java.time.Duration;
 import java.time.Instant;
@@ -17,7 +17,6 @@ import de.rwth.montisim.simulation.eesimulator.events.MessageReceiveEvent;
 import de.rwth.montisim.simulation.eesimulator.exceptions.EEMessageTypeException;
 import de.rwth.montisim.simulation.eesimulator.message.Message;
 import de.rwth.montisim.simulation.eesimulator.message.MessageInformation;
-import de.rwth.montisim.simulation.vehicle.autopilots.PID;
 import de.rwth.montisim.simulation.vehicle.physicalvalues.TrueCompass;
 import de.rwth.montisim.simulation.vehicle.physicalvalues.TruePosition;
 import de.rwth.montisim.simulation.vehicle.physicalvalues.TrueVelocity;
@@ -26,7 +25,7 @@ import de.rwth.montisim.simulation.vehicle.powertrain.PowerTrainProperties;
 public class JavaAutopilot extends EEComponent {
     final JavaAutopilotProperties properties;
 
-    public static final double MAX_DEVIATION = 5; // max allowed deviation from the trajectory "corners" (in meters)
+    public static final double MAX_DEVIATION = 3; // max allowed deviation from the trajectory "corners" (in meters)
     public static final double ORTHO_DIST = MAX_DEVIATION/(Math.sqrt(2)-1); // max allowed deviation from the trajectory "corners" (in meters)
     
     MessageInformation velocityMsg;
@@ -141,6 +140,10 @@ public class JavaAutopilot extends EEComponent {
     final Vec2 targetDir = new Vec2();
     final Vec2 carDir = new Vec2();
 
+    // TEMP
+    int mode = 0;
+    int target = 0;
+
     void compute(Instant startTime) {
         if (currentPosition == null || Double.isNaN(currentCompass)) return;
         double carAngle = currentCompass * Geometry.DEG_TO_RAD;
@@ -163,77 +166,107 @@ public class JavaAutopilot extends EEComponent {
             return;
         }
 
-        // Get current segment & next
-        currSeg.initFromTraj(index);
-
-        // Set Default Target
-        targetSeg = currSeg;
-
-        boolean hasNext = index + 2 < trajX.length;
-        if (hasNext){
-            nextSeg.initFromTraj(index+1);
-
-            // Eval junction turn
-            double junctionAngle = Math.acos(IPM.dot(currSeg.dir, nextSeg.dir));
-            double junctionSign = Math.signum(IPM.dot(normal, nextSeg.dir));
-            double maxRadius = junctionAngle == 0 ? Double.POSITIVE_INFINITY : MAX_DEVIATION / ((1/Math.cos(junctionAngle*0.5)) - 1);
-            double maxDistToCorner = Math.sqrt(MAX_DEVIATION * (MAX_DEVIATION + maxRadius*2));
+        double dt = getDeltaTime(startTime);
 
-            // Check if "in turn"
-            if (currSeg.projDistToEnd <= maxDistToCorner){
-                targetSeg = nextSeg;
-            }
-        }
+        SegmentPos targetSeg = findTargetSegment(index);
         
         // Now that we have a target segment, we follow it
+        double turnOutput = 0;
+        double speedOutput = 0;
 
-        // Wether the car is pointing towards the segment
-        boolean towardsSeg = targetSeg.orthoPos * IPM.dot(targetSeg.normal, carDir) < 0;
-        // Wether the car is pointing in the direction of the trajectory
-        boolean towardsEnd = IPM.dot(targetSeg.dir, carDir) > 0;
+        boolean carTowardsSeg = targetSeg.orthoPos * IPM.dot(targetSeg.normal, carDir) < 0;
+        boolean carTowardsEnd = IPM.dot(targetSeg.dir, carDir) > 0;
 
         double segmentAngle = Math.acos(targetSeg.dir.x) * Math.signum(targetSeg.dir.y);
 
         // Define TURNING to align with target (depending on distance, orientation & speed)
 
-        double targetAngle = segmentAngle;
 
         // Target angle (relative to segment)
-        double targetAngleRel = targetSeg.dist < ORTHO_DIST ? Math.acos(1-targetSeg.dist/ORTHO_DIST) : Math.PI*0.5;
-        targetAngle += targetAngleRel * Math.signum(-targetSeg.orthoPos);
-        targetDir.set(Math.cos(targetAngleRel), Math.sin(targetAngleRel));
+        double margin = 0.2;
+        double targetAngleRel = targetSeg.dist < margin ? 
+            0 : 
+            targetSeg.dist < ORTHO_DIST ? 
+                Math.acos(1+(margin-targetSeg.dist)/ORTHO_DIST) : 
+                Math.PI*0.5;
 
         // If targetDir attained: check if "tangent turn" is possible
         // targetDir attained = car pointing between orthogonal to segment & targetDir (CHECK symmetric +/- versions)
-        if (true) {
+        if (carTowardsSeg && carTowardsEnd && Math.abs(carAngle - segmentAngle) < targetAngleRel) {
+            if (mode == 0) {
+                //System.out.println("Tangent turn");
+                mode = 1;
+            }
+
+            // Find the radius of a circle tangent to the segment and the car position
+            double junctionAngle = Math.acos(IPM.dot(targetSeg.dir, carDir));
+            double radius = Math.tan( (Math.PI - junctionAngle)*0.5) * targetSeg.dist / IPM.dot(carDir, targetSeg.normal);
 
+            turnOutput = 452/radius * Math.signum(-targetSeg.orthoPos);
+
+        } else {
+            if (mode == 1) {
+                //System.out.println("Follow angle");
+                mode = 0;
+            }
+            double targetAngle = segmentAngle;
+            targetAngle += targetAngleRel * Math.signum(-targetSeg.orthoPos);
+            targetDir.set(Math.cos(targetAngleRel), Math.sin(targetAngleRel));
+
+            while (targetAngle > carAngle+Math.PI) targetAngle -= 2*Math.PI;
+            while (targetAngle < carAngle-Math.PI) targetAngle += 2*Math.PI;
+            turnOutput = turnPid.compute(dt, carAngle, targetAngle);
+            turnOutput *= Geometry.RAD_TO_DEG;
         }
 
         // Eval required speed -> in order to arrive at next turn with desired max speed or arrive at speed 0 at end
         // Respect max speed
 
-        while (targetAngle > carAngle+Math.PI) targetAngle -= 2*Math.PI;
-        while (targetAngle < carAngle-Math.PI) targetAngle += 2*Math.PI;
 
         double finalTargetSpeed = 30;
+        speedOutput = speedPid.compute(dt, currentVelocity, finalTargetSpeed);
+        speedOutput /= 3.6; // Convert to m/s related space
+        speedOutput /= properties.maxVehicleAccel; // Convert to [0:1] actuator range
+
 
-        double dt = 0;
+        sendMessage(sendTime, steeringMsg, turnOutput);
+        sendMessage(sendTime, accelMsg, speedOutput);
+    }
+
+    private double getDeltaTime(Instant time) {
         if (lastTime == null) {
-            lastTime = startTime;
+            lastTime = time;
+            return 0;
         } else {
-            dt = Time.secondsFromDuration(Duration.between(lastTime, startTime));
+            return Time.secondsFromDuration(Duration.between(lastTime, time));
         }
+    }
 
-        
-        double speedOutput = speedPid.compute(dt, currentVelocity, finalTargetSpeed);
-        speedOutput /= 3.6; // Convert to m/s related space
-        double accel = speedOutput / properties.maxVehicleAccel; // Convert to [0:1] actuator range
+    SegmentPos findTargetSegment(int index) {
+        currSeg.initFromTraj(index);
 
-        double turnOutput = turnPid.compute(dt, carAngle, targetAngle);
-        turnOutput *= Geometry.RAD_TO_DEG;
-        
-        sendMessage(sendTime, steeringMsg, turnOutput);
-        sendMessage(sendTime, accelMsg, accel);
+        boolean hasNext = index + 2 < trajX.length;
+        if (hasNext){
+            nextSeg.initFromTraj(index+1);
+
+            // Eval junction turn
+            double junctionAngle = Math.acos(IPM.dot(currSeg.dir, nextSeg.dir));
+            double junctionSign = Math.signum(IPM.dot(normal, nextSeg.dir));
+            double maxRadius = junctionAngle == 0 ? Double.POSITIVE_INFINITY : MAX_DEVIATION / ((1/Math.cos(junctionAngle*0.5)) - 1);
+            double maxDistToCorner = Math.sqrt(MAX_DEVIATION * (MAX_DEVIATION + maxRadius*2));
+
+            // Check if "in turn"
+            if (currSeg.projDistToEnd <= maxDistToCorner){
+                if (target == 0){
+                    target = 1;
+                    //System.out.println("Following NEXT segment");
+                }
+                return nextSeg;
+            }
+        }
+
+        target = 0;
+        return currSeg;
     }
 
     final Vec2 normal = new Vec2();

simulator/src/main/java/de/rwth/montisim/simulation/simulator/autopilots/JavaAutopilotProperties.java → eecomponents/src/main/java/de/rwth/montisim/simulation/eecomponents/autopilots/JavaAutopilotProperties.java

 /* (c) https://github.com/MontiCore/monticore */
-package de.rwth.montisim.simulation.simulator.autopilots;
+package de.rwth.montisim.simulation.eecomponents.autopilots;
 
 import java.time.Duration;
 

vehicle/src/main/java/de/rwth/montisim/simulation/vehicle/autopilots/PID.java → eecomponents/src/main/java/de/rwth/montisim/simulation/eecomponents/autopilots/PID.java

 /* (c) https://github.com/MontiCore/monticore */
-package de.rwth.montisim.simulation.vehicle.autopilots;
+package de.rwth.montisim.simulation.eecomponents.autopilots;
 
 public class PID {
     final double P; 

vehicle/src/main/java/de/rwth/montisim/simulation/vehicle/autopilots/TestAutopilot.java → eecomponents/src/main/java/de/rwth/montisim/simulation/eecomponents/autopilots/TestAutopilot.java

 /* (c) https://github.com/MontiCore/monticore */
-package de.rwth.montisim.simulation.vehicle.autopilots;
+package de.rwth.montisim.simulation.eecomponents.autopilots;
 
 import java.time.*;
 
@@ -10,7 +10,7 @@ import de.rwth.montisim.simulation.eesimulator.components.*;
 import de.rwth.montisim.simulation.eesimulator.events.MessageReceiveEvent;
 import de.rwth.montisim.simulation.eesimulator.exceptions.EEMessageTypeException;
 import de.rwth.montisim.simulation.eesimulator.message.*;
-import de.rwth.montisim.simulation.vehicle.autopilots.TestAutopilotProperties.Mode;
+import de.rwth.montisim.simulation.eecomponents.autopilots.TestAutopilotProperties.Mode;
 import de.rwth.montisim.simulation.vehicle.physicalvalues.TrueVelocity;
 import de.rwth.montisim.simulation.vehicle.powertrain.PowerTrainProperties;
 

vehicle/src/main/java/de/rwth/montisim/simulation/vehicle/autopilots/TestAutopilotProperties.java → eecomponents/src/main/java/de/rwth/montisim/simulation/eecomponents/autopilots/TestAutopilotProperties.java

 /* (c) https://github.com/MontiCore/monticore */
-package de.rwth.montisim.simulation.vehicle.autopilots;
+package de.rwth.montisim.simulation.eecomponents.autopilots;
 
 import java.time.Duration;
 

simulator/readme.md

+# Simulator Sub-Project
+
+## [Documentation for this sub-project](../docs/documentation/simulator.md)
+
+To use this sub-project as maven dependency:
+
+```xml
+<dependency>
+    <groupId>montisim</groupId>
+    <artifactId>simulator</artifactId>
+    <version>${revision}</version>
+</dependency>
+```

simulator/src/main/java/de/rwth/montisim/simulation/simulator/visualization/PhysicsDebug.java

@@ -10,11 +10,11 @@ import de.rwth.montisim.commons.simulation.TimeUpdate;
 import de.rwth.montisim.commons.utils.*;
 import de.rwth.montisim.simulation.eesimulator.exceptions.*;
 import de.rwth.montisim.simulation.eesimulator.message.MessageTypeManager;
+import de.rwth.montisim.simulation.eecomponents.autopilots.TestAutopilotProperties;
 import de.rwth.montisim.simulation.simulator.visualization.car.CarRenderer;
 import de.rwth.montisim.simulation.simulator.visualization.plotter.TimePlotter;
 import de.rwth.montisim.simulation.simulator.visualization.ui.*;
 import de.rwth.montisim.simulation.vehicle.*;
-import de.rwth.montisim.simulation.vehicle.autopilots.TestAutopilotProperties;
 import de.rwth.montisim.simulation.vehicle.config.*;
 import de.rwth.montisim.simulation.vehicle.physicsmodel.rigidbody.RigidbodyPhysics;
 

simulator/src/main/java/de/rwth/montisim/simulation/simulator/visualization/SimulationVisualizer.java

@@ -15,14 +15,14 @@ import de.rwth.montisim.simulation.environment.osmmap.*;
 import de.rwth.montisim.simulation.environment.world.World;
 import de.rwth.montisim.simulation.environment.pathfinding.*;
 import de.rwth.montisim.simulation.simulator.*;
-import de.rwth.montisim.simulation.simulator.autopilots.JavaAutopilotProperties;
+import de.rwth.montisim.simulation.eecomponents.autopilots.JavaAutopilotProperties;
+import de.rwth.montisim.simulation.eecomponents.autopilots.TestAutopilotProperties;
 import de.rwth.montisim.simulation.simulator.vehicleconfigs.DefaultVehicleConfig;
 import de.rwth.montisim.simulation.simulator.visualization.car.CarRenderer;
 import de.rwth.montisim.simulation.simulator.visualization.map.*;
 import de.rwth.montisim.simulation.simulator.visualization.plotter.TimePlotter;
 import de.rwth.montisim.simulation.simulator.visualization.ui.*;
 import de.rwth.montisim.simulation.vehicle.Vehicle;
-import de.rwth.montisim.simulation.vehicle.autopilots.TestAutopilotProperties;
 import de.rwth.montisim.simulation.vehicle.config.VehicleConfig;
 import de.rwth.montisim.simulation.vehicle.physicsmodel.rigidbody.RigidbodyPhysics;