@@ -72,4 +72,40 @@
     nbproject/build-impl.xml file. 
 
     -->
+
+    <!-- Added targets for building source and javadoc jar files -->
+    <target description="Bundle sources in a JAR" name="package-sources">
+        <jar basedir="src" destfile="dist/${ant.project.name}-sources.jar"/>
+    </target>
+    <target depends="-javadoc-build" description="Bundle javadoc in a JAR" name="package-doc">
+        <jar basedir="dist/javadoc" destfile="dist/${ant.project.name}-javadoc.jar"/>
+    </target>
+
+    <!-- Added targets to build a "fat-jar" that includes all dependencies -->
+    <target name="-unjar-and-copy-lib-jars">
+        <unjar dest="${build.classes.dir}">
+            <fileset dir="lib">
+                <include name="**/*.jar"/>
+            </fileset>
+            <patternset>
+                <exclude name="META-INF/**"/>
+                <exclude name="/*"/>
+            </patternset>
+        </unjar>
+    </target>
+
+    <target depends="init,compile,-pre-pre-jar,-pre-jar,-unjar-and-copy-lib-jars" name="fat-jar">
+        <property location="${build.classes.dir}" name="build.classes.dir.resolved"/>
+        <jar destfile="${dist.jar}">
+            <fileset dir="${build.classes.dir}"/>
+            <manifest>
+                <attribute name="Main-Class" value="${main.class}"/>
+            </manifest>
+        </jar>
+        <echo>To run this application from the command line without Ant, try:</echo>
+        <property location="${dist.jar}" name="dist.jar.resolved"/>
+        <echo>java -jar "${dist.jar.resolved}"</echo>
+    </target>
+
+    <target depends="clean,fat-jar" name="clean-and-fat-jar"/>
 </project>
@@ -60,15 +60,17 @@ public class Quaternion implements Cloneable, Serializable {
     public static final double SINGULARITY_SOUTH_POLE = -0.49999;
 
     /**
-     * 2D cartesian coordinates.
+     * 4D quaternion coordinates.
      */
     private final double w, x, y, z;
 
     /**
      * Construct a new quaternion.
+     * 
+     * @param w the w-coordinate of the object
      * @param x the x-coordinate of the object
      * @param y the y-coordinate of the object
-     * @param theta the planar rotation of the object
+     * @param z the z-coordinate of the object
      */
     public Quaternion(double w, double x, double y, double z) {
         this.w = w;
@@ -77,13 +79,6 @@ public Quaternion(double w, double x, double y, double z) {
         this.z = z;
     }
 
-    /**
-     * Construct a new quaternion.
-     * @param x the x-coordinate of the object
-     * @param y the y-coordinate of the object
-     * @param theta the planar rotation of the object
-     */
-    
     /**
      * Wrap a quaternion in vector form.
      * @param q a quaternion vector in {w, x, y, z} form.
@@ -134,7 +129,12 @@ public double[] getArray() {
     public static Quaternion fromRotation(RealMatrix m) {
         throw new UnsupportedOperationException("Not implemented yet.");
     }
-    
+
+    /**
+     * Converts quaternion to (3x3) rotation matrix.
+     *
+     * @return a 2D 3x3 rotation matrix representing the quaternion.
+     */
     public RealMatrix toRotation() {
         double[][] m = new double[3][3];
 
 
@@ -32,8 +32,10 @@ public class CoordUtils {
 
     /**
      * Returns Manhattan distance from this point to another.
-     * @param that the other point
-     * @return the Manhattan distance to the other point
+     * 
+     * @param a the first point
+     * @param b the second point
+     * @return the Manhattan distance between the two points
      */
     public static final double mdist(Coordinate a, Coordinate b) {
 
@@ -53,8 +55,10 @@ public static final double mdist(Coordinate a, Coordinate b) {
 
     /**
      * Returns Euclidean distance from this point to another.
-     * @param that the other point
-     * @return the Euclidean distance to the other point
+     *
+     * @param a the first point
+     * @param b the second point
+     * @return the Euclidean distance between the two points
      */
     public static final double edist(Coordinate a, Coordinate b) {
 
 
@@ -667,7 +667,7 @@ public int size() {
      * type, a RuntimeException will be thrown wrapping the original
      * corresponding IOException or ClassNotFoundException.
      *
-     * @param uid The UID reference of the object that is being retrieved.
+     * @param key The UID of the object that is being retrieved (must be a Long).
      * @return The object, or null if the reference is not valid.
      */
     public T get(Object key) {
@@ -745,7 +745,7 @@ public int size() {
      *
      * @param k
      * @param v
-     * @return
+     * @return Unspecified, this function will always throw an exception.
      */
     public T put(Long k, T v) {
         throw new UnsupportedOperationException("Not supported.  Please use the 'add' function.");
@@ -766,7 +766,7 @@ public void putAll(Map<? extends Long, ? extends T> map) {
      * Not supported because this is a write-to-EOF buffer.
      *
      * @param o
-     * @return
+     * @return Unspecified, this function will always throw an exception.
      */
     public T remove(Object o) {
         throw new UnsupportedOperationException("Not supported.");
 
@@ -90,7 +90,7 @@ public ExtendedKalmanFilter(RealMatrix x, RealMatrix P) {
     }
 
     /**
-     * @see KalmanFilter#predict(Jama.Matrix)
+     * @see KalmanFilter#predict(org.apache.commons.math.linear.RealMatrix)
      */
     @Override
     public void predict(RealMatrix u) {
@@ -102,7 +102,7 @@ public void predict(RealMatrix u) {
     }
 
     /**
-     * @see KalmanFilter#update(Jama.Matrix) 
+     * @see KalmanFilter#update(org.apache.commons.math.linear.RealMatrix) 
      */
     @Override
     public void update(RealMatrix z) {
@@ -113,7 +113,7 @@ public void update(RealMatrix z) {
     }
 
     /**
-     * @see KalmanFilter#setState(Jama.Matrix) 
+     * @see KalmanFilter#setState(org.apache.commons.math.linear.RealMatrix) 
      */
     @Override
     public void setState(RealMatrix x) {
 
@@ -97,10 +97,12 @@ public V getGoal() {
 
     /**
      * A wrapper function that searches for a set of edges that yields the
-     * optimal path of vertices returned by D*-lite.
+     * optimal path of vertices returned by D*-lite.  The start and end points
+     * are assumed to already be specified using the constructor and setStart.
+     *
+     * @see GraphDStar#GraphDStar(org.jgrapht.Graph, java.lang.Object, java.lang.Object) 
+     * @see GraphDStar#setStart(java.lang.Object)
      *
-     * @param start the starting vertex
-     * @param goal the ending vertex
      * @return a list of edges implementing an optimal path
      */
     public List<E> search() {
 
@@ -81,7 +81,6 @@ public void connect(int port) {
     /**
      * Attempt a connection to the ImageServer, or do nothing if there is
      * already a connection open.
-     * @return the success of the connection attempt.
      */
     public void connect(String hostname, int port) {
         if (isConnected()) return;
@@ -145,7 +144,7 @@ public void removeUpdateEventListener(ImageEventListener listener) {
 
     /**
      * Handler that dispatches images to all of the listeners.
-     * @param image the image received from the server.
+     * @param evt the image event received from the server.
      */
     protected void fireUpdateEventMessage(ImageEvent evt) {
         Object[] listeners = listenerList.getListenerList();
 
@@ -108,7 +108,7 @@ public PriorityQueue(int initialCapacity, Comparator<? super E> comparator) {
 
     /**
      * Make a copy of another PriorityQueue.
-     * @param comparator comparison operator to use when ordering elements
+     * @param c the PriorityQueue that will be cloned
      */
     public PriorityQueue(PriorityQueue<? extends E> c) {
         _queue = (Vector)c._queue.clone();