Clean up project

source/armarx/navigation/human/HumanTracker.cpp

@@ -103,6 +103,7 @@ namespace armarx::navigation::human
                 auto& footprint1 = posDistance.oldHuman->associatedCluster->cluster.points;
                 auto& footprint2 = posDistance.newCluster->cluster.points;
 
+                //TODO more efficient by just calculating mean between two circle centers for example
                 Eigen::Vector2f centerPos;
                 for (auto& point : footprint1)
                 {
@@ -356,6 +357,7 @@ namespace armarx::navigation::human
     float
     HumanTracker::getClusterSize(Cluster cluster)
     {
+        //TODO more effictient by using radius of circle saved in cluster for example
         float maxSize = 0;
         for (auto it1 = cluster.points.begin(); it1 != cluster.points.end();)
         {
@@ -363,7 +365,6 @@ namespace armarx::navigation::human
             for (auto it2 = it1 + 1; it2 != cluster.points.end();)
             {
                 auto& point2 = *it2;
-                //TODO does subtraction work for vectors like this?
                 maxSize = std::max(maxSize, (point2 - point1).norm());
             }
         }

source/armarx/navigation/human/HumanTracker.h

@@ -36,11 +36,9 @@
 
 namespace armarx::navigation::human
 {
-    using T = double;
-    using Vector = Eigen::Matrix<T, 2, 1>;
-    using SystemModelT = kalman_filter::SystemModelSO2xR2<T>;
     using Cluster = armem::vision::LaserScannerFeature;
 
+
     /**
      * @brief The HumanTracker class can be used to track and filter multiple humans. It hides
      * implementation detail on how new detected humans are associated to the old, already tracked