diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile
index 160a9b91..f762d033 100644
--- a/.devcontainer/Dockerfile
+++ b/.devcontainer/Dockerfile
@@ -1,7 +1,6 @@
-FROM ubuntu:20.04
+FROM python:slim
 WORKDIR /
-RUN apt-get -y update
-RUN DEBIAN_FRONTEND=noninteractive apt-get install -y --no-install-recommends tzdata
-RUN apt-get install -y python3 python3-dev git python3-pip python3-kivy python-is-python3 libgl1-mesa-dev build-essential
-RUN ln -s $(which pip3) /usr/bin/pip
-RUN pip install pymongo pandas numpy scipy scikit-learn matplotlib pylint kivy
\ No newline at end of file
+RUN apt-get -y update; apt-get -y upgrade
+RUN apt-get -y install git
+COPY requirements.txt .
+RUN pip install -r requirements.txt
\ No newline at end of file
diff --git a/.devcontainer/dev-dockerfile b/.devcontainer/dev-dockerfile
deleted file mode 100644
index 74659d49..00000000
--- a/.devcontainer/dev-dockerfile
+++ /dev/null
@@ -1,2 +0,0 @@
-FROM titanscout2022/tra-analysis-base:latest
-WORKDIR /
\ No newline at end of file
diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
index 3eb4364b..f62f520e 100644
--- a/.devcontainer/devcontainer.json
+++ b/.devcontainer/devcontainer.json
@@ -1,28 +1,22 @@
 {
     "name": "TRA Analysis Development Environment",
     "build": {
-		"dockerfile": "dev-dockerfile",
+		"dockerfile": "Dockerfile",
     },
     "settings": { 
 		"terminal.integrated.shell.linux": "/bin/bash",
-		"python.pythonPath": "/usr/local/bin/python",
+		"python.pythonPath": "",
 		"python.linting.enabled": true,
 		"python.linting.pylintEnabled": true,
-		"python.formatting.autopep8Path": "/usr/local/py-utils/bin/autopep8",
-		"python.formatting.blackPath": "/usr/local/py-utils/bin/black",
-		"python.formatting.yapfPath": "/usr/local/py-utils/bin/yapf",
-		"python.linting.banditPath": "/usr/local/py-utils/bin/bandit",
-		"python.linting.flake8Path": "/usr/local/py-utils/bin/flake8",
-		"python.linting.mypyPath": "/usr/local/py-utils/bin/mypy",
-		"python.linting.pycodestylePath": "/usr/local/py-utils/bin/pycodestyle",
-		"python.linting.pydocstylePath": "/usr/local/py-utils/bin/pydocstyle",
-		"python.linting.pylintPath": "/usr/local/py-utils/bin/pylint",
-		"python.testing.pytestPath": "/usr/local/py-utils/bin/pytest"
+		"python.linting.pylintPath": "",
+		"python.testing.pytestPath": "",
+    "editor.tabSize": 4,
+    "editor.insertSpaces": false
 	},
 	"extensions": [
 		"mhutchie.git-graph",
 		"ms-python.python",
 		"waderyan.gitblame"
 	],
-		"postCreateCommand": "/usr/bin/pip3 install -r ${containerWorkspaceFolder}/analysis-master/requirements.txt && /usr/bin/pip3 install --no-cache-dir pylint && /usr/bin/pip3 install pytest"
+		"postCreateCommand": ""
 	}
\ No newline at end of file
diff --git a/.devcontainer/requirements.txt b/.devcontainer/requirements.txt
new file mode 100644
index 00000000..1b3d6fa6
--- /dev/null
+++ b/.devcontainer/requirements.txt
@@ -0,0 +1,8 @@
+numpy
+scipy
+scikit-learn
+six
+pyparsing
+
+pylint
+pytest
\ No newline at end of file
diff --git a/.github/workflows/ut-analysis.yml b/.github/workflows/ut-analysis.yml
index 5944756e..a54a5dca 100644
--- a/.github/workflows/ut-analysis.yml
+++ b/.github/workflows/ut-analysis.yml
@@ -10,12 +10,12 @@ on:
     branches: [ master ]
 
 jobs:
-  build:
+  unittest:
 
     runs-on: ubuntu-latest
     strategy:
       matrix:
-        python-version: [3.7, 3.8]
+        python-version: ["3.7", "3.8", "3.9", "3.10"]
 
     env:
       working-directory: ./analysis-master/
diff --git a/analysis-master/requirements.txt b/analysis-master/requirements.txt
index 3d106798..1b3d6fa6 100644
--- a/analysis-master/requirements.txt
+++ b/analysis-master/requirements.txt
@@ -2,5 +2,7 @@ numpy
 scipy
 scikit-learn
 six
-matplotlib
-pyparsing
\ No newline at end of file
+pyparsing
+
+pylint
+pytest
\ No newline at end of file
diff --git a/analysis-master/test_analysis.py b/analysis-master/test_analysis.py
index ebba8da5..f4f70441 100644
--- a/analysis-master/test_analysis.py
+++ b/analysis-master/test_analysis.py
@@ -5,9 +5,11 @@ from sklearn import metrics
 from tra_analysis import Analysis as an
 from tra_analysis import Array
 from tra_analysis import ClassificationMetric
+from tra_analysis import Clustering
 from tra_analysis import CorrelationTest
 from tra_analysis import Fit
 from tra_analysis import KNN
+from tra_analysis import metrics as m
 from tra_analysis import NaiveBayes
 from tra_analysis import RandomForest
 from tra_analysis import RegressionMetric
@@ -26,7 +28,7 @@ x_data_circular = []
 y_data_circular = []
 
 y_data_ccu = [1, 3, 7, 14, 21]
-y_data_ccd = [1, 5, 7, 8.5, 8.66]
+y_data_ccd = [8.66, 8.5, 7, 5, 1]
 
 test_data_scrambled = [-32, 34, 19, 72, -65, -11, -43, 6, 85, -17, -98, -26, 12, 20, 9, -92, -40, 98, -78, 17, -20, 49, 93, -27, -24, -66, 40, 84, 1, -64, -68, -25, -42, -46, -76, 43, -3, 30, -14, -34, -55, -13, 41, -30, 0, -61, 48, 23, 60, 87, 80, 77, 53, 73, 79, 24, -52, 82, 8, -44, 65, 47, -77, 94, 7, 37, -79, 36, -94, 91, 59, 10, 97, -38, -67, 83, 54, 31, -95, -63, 16, -45, 21, -12, 66, -48, -18, -96, -90, -21, -83, -74, 39, 64, 69, -97, 13, 55, 27, -39]
 test_data_sorted = [-98, -97, -96, -95, -94, -92, -90, -83, -79, -78, -77, -76, -74, -68, -67, -66, -65, -64, -63, -61, -55, -52, -48, -46, -45, -44, -43, -42, -40, -39, -38, -34, -32, -30, -27, -26, -25, -24, -21, -20, -18, -17, -14, -13, -12, -11, -3, 0, 1, 6, 7, 8, 9, 10, 12, 13, 16, 17, 19, 20, 21, 23, 24, 27, 30, 31, 34, 36, 37, 39, 40, 41, 43, 47, 48, 49, 53, 54, 55, 59, 60, 64, 65, 66, 69, 72, 73, 77, 79, 80, 82, 83, 84, 85, 87, 91, 93, 94, 97, 98]
@@ -47,16 +49,25 @@ def test_basicstats():
 def test_regression():
 
 	assert all(isinstance(item, str) for item in an.regression(test_data_linear, y_data_ccu, ["lin"])) == True
-	#assert all(isinstance(item, str) for item in an.regression(test_data_linear, y_data_ccd, ["log"])) == True
-	#assert all(isinstance(item, str) for item in an.regression(test_data_linear, y_data_ccu, ["exp"])) == True
-	#assert all(isinstance(item, str) for item in an.regression(test_data_linear, y_data_ccu, ["ply"])) == True
-	#assert all(isinstance(item, str) for item in an.regression(test_data_linear, y_data_ccd, ["sig"])) == True
+	assert all(isinstance(item, str) for item in an.regression(test_data_linear, y_data_ccd, ["log"])) == True
+	assert all(isinstance(item, str) for item in an.regression(test_data_linear, y_data_ccu, ["exp"])) == True
+	assert all(isinstance(item, str) for item in an.regression(test_data_linear, y_data_ccu, ["ply"])) == True
+	assert all(isinstance(item, str) for item in an.regression(test_data_linear, y_data_ccd, ["sig"])) == True
 
 def test_metrics():
 
 	assert an.Metric().elo(1500, 1500, [1, 0], 400, 24) == 1512.0
 	assert an.Metric().glicko2(1500, 250, 0.06, [1500, 1400], [250, 240], [1, 0]) == (1478.864307445517, 195.99122679202452, 0.05999602937563585)
-	#assert an.Metric().trueskill([[(25, 8.33), (24, 8.25), (32, 7.5)], [(25, 8.33), (25, 8.33), (21, 6.5)]], [1, 0]) == [(metrics.trueskill.Rating(mu=21.346, sigma=7.875), metrics.trueskill.Rating(mu=20.415, sigma=7.808), metrics.trueskill.Rating(mu=29.037, sigma=7.170)), (metrics.trueskill.Rating(mu=28.654, sigma=7.875), metrics.trueskill.Rating(mu=28.654, sigma=7.875), metrics.trueskill.Rating(mu=23.225, sigma=6.287))]
+	e = [[(21.346, 7.875), (20.415, 7.808), (29.037, 7.170)], [(28.654, 7.875), (28.654, 7.875), (23.225, 6.287)]]
+	r = an.Metric().trueskill([[(25, 8.33), (24, 8.25), (32, 7.5)], [(25, 8.33), (25, 8.33), (21, 6.5)]], [1, 0])
+	i = 0
+	for group in r:
+		j = 0
+		for team in group:
+			assert abs(team.mu - e[i][j][0]) < 0.001
+			assert abs(team.sigma - e[i][j][1]) < 0.001
+			j+=1
+		i+=1
 
 def test_array():
 
@@ -142,14 +153,9 @@ def test_sort():
 		assert all(a == b for a, b in zip(sort(test_data_scrambled), test_data_sorted))
 
 def test_statisticaltest():
-	
-	#print(StatisticalTest.tukey_multicomparison([test_data_linear, test_data_linear2, test_data_linear3]))
+
 	assert StatisticalTest.tukey_multicomparison([test_data_linear, test_data_linear2, test_data_linear3]) == \
 		{'group 1 and group 2': [0.32571517201527916, False], 'group 1 and group 3': [0.977145516045838, False], 'group 2 and group 3': [0.6514303440305589, False]}
-	#assert all(np.isclose([i[0] for i in list(StatisticalTest.tukey_multicomparison([test_data_linear, test_data_linear2, test_data_linear3]).values],
-	#	[0.32571517201527916, 0.977145516045838, 0.6514303440305589]))
-	#assert [i[1] for i in StatisticalTest.tukey_multicomparison([test_data_linear, test_data_linear2, test_data_linear3]).values] == \
-	#	[False, False, False]
 
 def test_svm():
 
@@ -230,4 +236,18 @@ def test_equation():
 		"-(sgn(cos(PI/4)))": -1,
 	}
 	for key in list(correctParse.keys()):
-		assert parser.eval(key) == correctParse[key]
\ No newline at end of file
+		assert parser.eval(key) == correctParse[key]
+
+def test_clustering():
+
+	normalizer = sklearn.preprocessing.Normalizer()
+
+	data = X = np.array([[1, 2], [2, 2], [2, 3], [8, 7], [8, 8], [25, 80]])
+
+	assert Clustering.dbscan(data, eps=3, min_samples=2).tolist() == [0, 0, 0, 1, 1, -1]
+	assert Clustering.dbscan(data, normalizer=normalizer, eps=3, min_samples=2).tolist() == [0, 0, 0, 0, 0, 0]
+
+	data = np.array([[1, 1], [2, 1], [1, 0], [4, 7], [3, 5], [3, 6]])
+
+	assert Clustering.spectral(data, n_clusters=2, assign_labels='discretize', random_state=0).tolist() == [1, 1, 1, 0, 0, 0]
+	assert Clustering.spectral(data, normalizer=normalizer, n_clusters=2, assign_labels='discretize', random_state=0).tolist() == [0, 1, 1, 0, 0, 0]
\ No newline at end of file
diff --git a/analysis-master/tra_analysis/Analysis.py b/analysis-master/tra_analysis/Analysis.py
index 7bf68c8d..e538b107 100644
--- a/analysis-master/tra_analysis/Analysis.py
+++ b/analysis-master/tra_analysis/Analysis.py
@@ -7,10 +7,19 @@
 #    current benchmark of optimization: 1.33 times faster
 # setup:
 
-__version__ = "3.0.2"
+__version__ = "3.0.6"
 
 # changelog should be viewed using print(analysis.__changelog__)
 __changelog__ = """changelog:
+	3.0.6:
+		- added docstrings
+	3.0.5:
+		- removed extra submodule imports
+		- fixed/optimized header
+	3.0.4:
+		- removed -_obj imports
+	3.0.3:
+		- fixed spelling of deprecate
 	3.0.2:
 		- fixed __all__
 	3.0.1:
@@ -58,7 +67,7 @@ __changelog__ = """changelog:
 			- cycle sort
 			- cocktail sort
 		- tested all sorting algorithms with both lists and numpy arrays
-		- depreciated sort function from Array class
+		- deprecated sort function from Array class
 		- added warnings as an import
 	2.1.4:
 		- added sort and search functions to Array class
@@ -136,7 +145,7 @@ __changelog__ = """changelog:
 	1.12.4:
 		- renamed gliko to glicko
 	1.12.3:
-		- removed depreciated code
+		- removed deprecated code
 	1.12.2:
 		- removed team first time trueskill instantiation in favor of integration in superscript.py
 	1.12.1:
@@ -248,10 +257,10 @@ __changelog__ = """changelog:
 	1.0.0:
 		- removed c_entities,nc_entities,obstacles,objectives from __all__
 		- applied numba.jit to all functions
-		- depreciated and removed stdev_z_split
+		- deprecated and removed stdev_z_split
 		- cleaned up histo_analysis to include numpy and numba.jit optimizations
-		- depreciated and removed all regression functions in favor of future pytorch optimizer
-		- depreciated and removed all nonessential functions (basic_analysis, benchmark, strip_data)
+		- deprecated and removed all regression functions in favor of future pytorch optimizer
+		- deprecated and removed all nonessential functions (basic_analysis, benchmark, strip_data)
 		- optimized z_normalize using sklearn.preprocessing.normalize
 		- TODO: implement kernel/function based pytorch regression optimizer
 	0.9.0:
@@ -270,8 +279,8 @@ __changelog__ = """changelog:
 		- refactors
 		- bugfixes
 	0.8.0:
-		- depreciated histo_analysis_old
-		- depreciated debug
+		- deprecated histo_analysis_old
+		- deprecated debug
 		- altered basic_analysis to take array data instead of filepath
 		- refactor
 		- optimization
@@ -319,7 +328,7 @@ __changelog__ = """changelog:
 	0.3.5:
 		- major bug fixes
 		- updated historical analysis
-		- depreciated old historical analysis
+		- deprecated old historical analysis
 	0.3.4:
 		- added __version__, __author__, __all__
 		- added polynomial regression
@@ -357,7 +366,6 @@ __all__ = [
 	'histo_analysis',
 	'regression',
 	'Metric',
-	'kmeans',
 	'pca',
 	'decisiontree',
 	# all statistics functions left out due to integration in other functions
@@ -370,40 +378,39 @@ __all__ = [
 import csv
 from tra_analysis.metrics import elo as Elo
 from tra_analysis.metrics import glicko2 as Glicko2
-import math
 import numpy as np
 import scipy
-from scipy import optimize, stats
-import sklearn
-from sklearn import preprocessing, pipeline, linear_model, metrics, cluster, decomposition, tree, neighbors, naive_bayes, svm, model_selection, ensemble
+import sklearn, sklearn.cluster, sklearn.pipeline
 from tra_analysis.metrics import trueskill as Trueskill
-import warnings
 
 # import submodules
 
-from .Array import Array
 from .ClassificationMetric import ClassificationMetric
-from .CorrelationTest_obj import CorrelationTest
-from .KNN_obj import KNN
-from .NaiveBayes_obj import NaiveBayes
-from .RandomForest_obj import RandomForest
-from .RegressionMetric import RegressionMetric
-from .Sort_obj import Sort
-from .StatisticalTest_obj import StatisticalTest
-from . import SVM
 
 class error(ValueError):
 	pass
 
 def load_csv(filepath):
+	"""
+	Loads csv file into 2D numpy array. Does not check csv file validity.
+	parameters:
+		filepath: String path to the csv file
+	return:
+		2D numpy array of values stored in csv file
+	"""
 	with open(filepath, newline='') as csvfile:
 		file_array = np.array(list(csv.reader(csvfile)))
 		csvfile.close()
 	return file_array
 
-# expects 1d array
 def basic_stats(data):
-
+	"""
+	Calculates mean, median, standard deviation, variance, minimum, maximum of a simple set of elements.
+	parameters:
+		data: List representing set of unordered elements
+	return:
+		Dictionary with (mean, median, standard-deviation, variance, minimum, maximum) as keys and corresponding values
+	"""
 	data_t = np.array(data).astype(float)
 
 	_mean = mean(data_t)
@@ -415,24 +422,43 @@ def basic_stats(data):
 
 	return {"mean": _mean, "median": _median, "standard-deviation": _stdev, "variance": _variance, "minimum": _min, "maximum": _max}
 
-# returns z score with inputs of point, mean and standard deviation of spread
 def z_score(point, mean, stdev):
+	"""
+	Calculates z score of a specific point given mean and standard deviation of data.
+	parameters:
+		point: Real value corresponding to a single point of data
+		mean: Real value corresponding to the mean of the dataset
+		stdev: Real value corresponding to the standard deviation of the dataset
+	return:
+		Real value that is the point's z score
+	"""
 	score = (point - mean) / stdev
 	
 	return score
 
-# expects 2d array, normalizes across all axes
 def z_normalize(array, *args):
-
+	"""
+	Applies sklearn.normalize(array, axis = args) on any arraylike parseable by numpy.
+	parameters:
+		array: array like structure of reals aka nested indexables
+		*args: arguments relating to axis normalized against
+	return:
+		numpy array of normalized values from ArrayLike input
+	"""
 	array = np.array(array)
 	for arg in args:
 		array = sklearn.preprocessing.normalize(array, axis = arg)
 
 	return array
 
-# expects 2d array of [x,y]
 def histo_analysis(hist_data):
-
+	"""
+	Calculates the mean and standard deviation of derivatives of (x,y) points. Requires at least 2 points to compute.
+	parameters:
+		hist_data: list of real coordinate point data (x, y)
+	return:
+		Dictionary with (mean, deviation) as keys to corresponding values
+	"""
 	if len(hist_data[0]) > 2:
 
 		hist_data = np.array(hist_data)
@@ -448,7 +474,15 @@ def histo_analysis(hist_data):
 		return None
 
 def regression(inputs, outputs, args): # inputs, outputs expects N-D array 
-
+	"""
+	Applies specified regression kernels onto input, output data pairs.
+	parameters:
+		inputs: List of Reals representing independent variable values of each point
+		outputs: List of Reals representing dependent variable values of each point
+		args: List of Strings from values (lin, log, exp, ply, sig)
+	return:
+		Dictionary with keys (lin, log, exp, ply, sig) as keys to correspondiong regression models
+	"""
 	X = np.array(inputs)
 	y = np.array(outputs)
 
@@ -552,13 +586,39 @@ def regression(inputs, outputs, args): # inputs, outputs expects N-D array
 	return regressions
 
 class Metric:
-
+	"""
+	The metric class wraps the metrics models. Call without instantiation as Metric.<method>(...)
+	"""
 	def elo(self, starting_score, opposing_score, observed, N, K):
-
+		"""
+		Calculates an elo adjusted ELO score given a player's current score, opponent's score, and outcome of match.
+		reference: https://en.wikipedia.org/wiki/Elo_rating_system
+		parameters:
+			starting_score: Real value representing player's ELO score before a match
+			opposing_score: Real value representing opponent's score before the match
+			observed: Array of Real values representing multiple sequential match outcomes against the same opponent. 1 for match win, 0.5 for tie, 0 for loss.
+			N: Real value representing the normal or mean score expected (usually 1200)
+			K: R eal value representing a system constant, determines how quickly players will change scores (usually 24)
+		return:
+			Real value representing the player's new ELO score
+		"""
 		return Elo.calculate(starting_score, opposing_score, observed, N, K)
 
 	def glicko2(self, starting_score, starting_rd, starting_vol, opposing_score, opposing_rd, observations):
-
+		"""
+		Calculates an adjusted Glicko-2 score given a player's current score, multiple opponent's score, and outcome of several matches.
+		reference: http://www.glicko.net/glicko/glicko2.pdf
+		parameters:
+			starting_score: Real value representing the player's Glicko-2 score
+			starting_rd: Real value representing the player's RD
+			starting_vol: Real value representing the player's volatility
+			opposing_score: List of Real values representing multiple opponent's Glicko-2 scores
+			opposing_rd: List of Real values representing multiple opponent's RD
+			opposing_vol: List of Real values representing multiple opponent's volatility
+			observations: List of Real values representing the outcome of several matches, where each match's opponent corresponds with the opposing_score, opposing_rd, opposing_vol values of the same indesx. Outcomes can be a score, presuming greater score is better. 
+		return:
+			Tuple of 3 Real values representing the player's new score, rd, and vol
+		"""
 		player = Glicko2.Glicko2(rating = starting_score, rd = starting_rd, vol = starting_vol)
 
 		player.update_player([x for x in opposing_score], [x for x in opposing_rd], observations)
@@ -566,7 +626,15 @@ class Metric:
 		return (player.rating, player.rd, player.vol)
 
 	def trueskill(self, teams_data, observations): # teams_data is array of array of tuples ie. [[(mu, sigma), (mu, sigma), (mu, sigma)], [(mu, sigma), (mu, sigma), (mu, sigma)]]
-
+		"""
+		Calculates the score changes for multiple teams playing in a single match accoding to the trueskill algorithm.
+		reference: https://trueskill.org/
+		parameters:
+			teams_data: List of List of Tuples of 2 Real values representing multiple player ratings. List of teams, which is a List of players. Each player rating is a Tuple of 2 Real values (mu, sigma).
+			observations: List of Real values representing the match outcome. Each value in the List is the score corresponding to the team at the same index in teams_data.
+		return:
+			List of List of Tuples of 2 Real values representing new player ratings. Same structure as teams_data. 
+		"""
 		team_ratings = []
 
 		for team in teams_data:
@@ -602,23 +670,31 @@ def npmax(data):
 
 	return np.amax(data)
 
-def kmeans(data, n_clusters=8, init="k-means++", n_init=10, max_iter=300, tol=0.0001, precompute_distances="auto", verbose=0, random_state=None, copy_x=True, n_jobs=None, algorithm="auto"):
-
-	kernel = sklearn.cluster.KMeans(n_clusters = n_clusters, init = init, n_init = n_init, max_iter = max_iter, tol = tol, precompute_distances = precompute_distances, verbose = verbose, random_state = random_state, copy_x = copy_x, n_jobs = n_jobs, algorithm = algorithm)
-	kernel.fit(data)
-	predictions = kernel.predict(data)
-	centers = kernel.cluster_centers_
-
-	return centers, predictions
-
 def pca(data, n_components = None, copy = True, whiten = False, svd_solver = "auto", tol = 0.0, iterated_power = "auto", random_state = None):
-
+	"""
+	Performs a principle component analysis on the input data.
+	reference: https://scikit-learn.org/stable/modules/generated/sklearn.decomposition.PCA.html
+	parameters:
+		data: Arraylike of Reals representing the set of data to perform PCA on
+		* : refer to reference for usage, parameters follow same usage
+	return:
+		Arraylike of Reals representing the set of data that has had PCA performed. The dimensionality of the Arraylike may be smaller or equal. 
+	"""
 	kernel = sklearn.decomposition.PCA(n_components = n_components, copy = copy, whiten = whiten, svd_solver = svd_solver, tol = tol, iterated_power = iterated_power, random_state = random_state)
 
 	return kernel.fit_transform(data)
 
 def decisiontree(data, labels, test_size = 0.3, criterion = "gini", splitter = "default", max_depth = None): #expects *2d data and 1d labels
-
+	"""
+	Generates a decision tree classifier fitted to the given data. 
+	reference: https://scikit-learn.org/stable/modules/generated/sklearn.tree.DecisionTreeClassifier.html
+	parameters:
+		data: List of values representing each data point of multiple axes
+		labels: List of values represeing the labels corresponding to the same index at data
+		* : refer to reference for usage, parameters follow same usage
+	return:
+		DecisionTreeClassifier model and corresponding classification accuracy metrics
+	"""
 	data_train, data_test, labels_train, labels_test = sklearn.model_selection.train_test_split(data, labels, test_size=test_size, random_state=1)
 	model = sklearn.tree.DecisionTreeClassifier(criterion = criterion, splitter = splitter, max_depth = max_depth)
 	model = model.fit(data_train,labels_train)
diff --git a/analysis-master/tra_analysis/Array.py b/analysis-master/tra_analysis/Array.py
index 1699c3c4..bfd39ce8 100644
--- a/analysis-master/tra_analysis/Array.py
+++ b/analysis-master/tra_analysis/Array.py
@@ -4,9 +4,11 @@
 #    this should be imported as a python module using 'from tra_analysis import Array'
 # setup:
 
-__version__ = "1.0.3"
+__version__ = "1.0.4"
 
 __changelog__ = """changelog:
+	1.0.4:
+		- fixed spelling of deprecate
 	1.0.3:
 		- fixed __all__
 	1.0.2:
@@ -135,8 +137,8 @@ class Array(): # tests on nd arrays independent of basic_stats
 
 		return Array(np.transpose(self.array))
 
-	def sort(self, array): # depreciated
-		warnings.warn("Array.sort has been depreciated in favor of Sort")
+	def sort(self, array): # deprecated
+		warnings.warn("Array.sort has been deprecated in favor of Sort")
 		array_length = len(array)
 		if array_length <= 1:
 			return array
diff --git a/analysis-master/tra_analysis/ClassificationMetric.py b/analysis-master/tra_analysis/ClassificationMetric.py
index a1afcf25..6dc2ff31 100644
--- a/analysis-master/tra_analysis/ClassificationMetric.py
+++ b/analysis-master/tra_analysis/ClassificationMetric.py
@@ -4,9 +4,11 @@
 #    this should be imported as a python module using 'from tra_analysis import ClassificationMetric'
 # setup:
 
-__version__ = "1.0.1"
+__version__ = "1.0.2"
 
 __changelog__ = """changelog:
+	1.0.2:
+		- optimized imports
 	1.0.1:
 		- fixed __all__
 	1.0.0:
@@ -22,7 +24,6 @@ __all__ = [
 ]
 
 import sklearn
-from sklearn import metrics
 
 class ClassificationMetric():
 
diff --git a/analysis-master/tra_analysis/Clustering.py b/analysis-master/tra_analysis/Clustering.py
new file mode 100644
index 00000000..1372ffbc
--- /dev/null
+++ b/analysis-master/tra_analysis/Clustering.py
@@ -0,0 +1,63 @@
+# Titan Robotics Team 2022: Clustering submodule
+# Written by Arthur Lu
+# Notes:
+#    this should be imported as a python module using 'from tra_analysis import Clustering'
+# setup:
+
+__version__ = "2.0.2"
+
+# changelog should be viewed using print(analysis.__changelog__)
+__changelog__ = """changelog:
+	2.0.2:
+		- generalized optional args to **kwargs
+	2.0.1:
+		- added normalization preprocessing to clustering, expects instance of sklearn.preprocessing.Normalizer()
+	2.0.0:
+		- added dbscan clustering algo
+		- added spectral clustering algo
+    1.0.0:
+        - created this submodule
+        - copied kmeans clustering from Analysis
+"""
+
+__author__ = (
+	"Arthur Lu <learthurgo@gmail.com>",
+)
+
+__all__ = [
+	"kmeans",
+	"dbscan",
+	"spectral",
+]
+
+import sklearn
+
+def kmeans(data, normalizer = None, **kwargs):
+
+	if  normalizer != None:
+		data = normalizer.transform(data)
+
+	kernel = sklearn.cluster.KMeans(**kwargs)
+	kernel.fit(data)
+	predictions = kernel.predict(data)
+	centers = kernel.cluster_centers_
+
+	return centers, predictions
+
+def dbscan(data, normalizer=None, **kwargs):
+
+	if  normalizer != None:
+		data = normalizer.transform(data)
+
+	model = sklearn.cluster.DBSCAN(**kwargs).fit(data)
+
+	return model.labels_
+
+def spectral(data, normalizer=None, **kwargs):
+
+	if  normalizer != None:
+		data = normalizer.transform(data)
+
+	model = sklearn.cluster.SpectralClustering(**kwargs).fit(data)
+
+	return model.labels_
\ No newline at end of file
diff --git a/analysis-master/tra_analysis/CorrelationTest.py b/analysis-master/tra_analysis/CorrelationTest.py
index bc35ce92..d08612f4 100644
--- a/analysis-master/tra_analysis/CorrelationTest.py
+++ b/analysis-master/tra_analysis/CorrelationTest.py
@@ -4,9 +4,13 @@
 #    this should be imported as a python module using 'from tra_analysis import CorrelationTest'
 # setup:
 
-__version__ = "1.0.1"
+__version__ = "1.0.3"
 
 __changelog__ = """changelog:
+	1.0.3:
+		- generalized optional args to **kwargs
+	1.0.2:
+		- optimized imports
 	1.0.1:
 		- fixed __all__
 	1.0.0:
@@ -29,7 +33,6 @@ __all__ = [
 ]
 
 import scipy
-from scipy import stats
 
 def anova_oneway(*args): #expects arrays of samples
 
@@ -41,9 +44,9 @@ def pearson(x, y):
 	results = scipy.stats.pearsonr(x, y)
 	return {"r-value": results[0], "p-value": results[1]}
 
-def spearman(a, b = None, axis = 0, nan_policy = 'propagate'):
+def spearman(a, b = None, **kwargs):
 
-	results = scipy.stats.spearmanr(a, b = b, axis = axis, nan_policy = nan_policy)
+	results = scipy.stats.spearmanr(a, b = b, **kwargs)
 	return {"r-value": results[0], "p-value": results[1]}
 
 def point_biserial(x, y):
@@ -51,17 +54,17 @@ def point_biserial(x, y):
 	results = scipy.stats.pointbiserialr(x, y)
 	return {"r-value": results[0], "p-value": results[1]}
 
-def kendall(x, y, initial_lexsort = None, nan_policy = 'propagate', method = 'auto'):
+def kendall(x, y, **kwargs):
 
-	results = scipy.stats.kendalltau(x, y, initial_lexsort = initial_lexsort, nan_policy = nan_policy, method = method)
+	results = scipy.stats.kendalltau(x, y, **kwargs)
 	return {"tau": results[0], "p-value": results[1]}
 
-def kendall_weighted(x, y, rank = True, weigher = None, additive = True):
+def kendall_weighted(x, y, **kwargs):
 
-	results = scipy.stats.weightedtau(x, y, rank = rank, weigher = weigher, additive = additive)
+	results = scipy.stats.weightedtau(x, y, **kwargs)
 	return {"tau": results[0], "p-value": results[1]}
 
-def mgc(x, y, compute_distance = None, reps = 1000, workers = 1, is_twosamp = False, random_state = None):
+def mgc(x, y, **kwargs):
 
-	results = scipy.stats.multiscale_graphcorr(x, y, compute_distance = compute_distance, reps = reps, workers = workers, is_twosamp = is_twosamp, random_state = random_state)
+	results = scipy.stats.multiscale_graphcorr(x, y, **kwargs)
 	return {"k-value": results[0], "p-value": results[1], "data": results[2]} # unsure if MGC test returns a k value
\ No newline at end of file
diff --git a/analysis-master/tra_analysis/CorrelationTest_obj.py b/analysis-master/tra_analysis/CorrelationTest_obj.py
deleted file mode 100644
index 16168094..00000000
--- a/analysis-master/tra_analysis/CorrelationTest_obj.py
+++ /dev/null
@@ -1,41 +0,0 @@
-# Only included for backwards compatibility! Do not update, CorrelationTest is preferred and supported.
-
-import scipy
-from scipy import stats
-
-class CorrelationTest:
-
-	def anova_oneway(self, *args): #expects arrays of samples
-
-		results = scipy.stats.f_oneway(*args)
-		return {"f-value": results[0], "p-value": results[1]}
-
-	def pearson(self, x, y):
-
-		results = scipy.stats.pearsonr(x, y)
-		return {"r-value": results[0], "p-value": results[1]}
-
-	def spearman(self, a, b = None, axis = 0, nan_policy = 'propagate'):
-
-		results = scipy.stats.spearmanr(a, b = b, axis = axis, nan_policy = nan_policy)
-		return {"r-value": results[0], "p-value": results[1]}
-
-	def point_biserial(self, x,y):
-
-		results = scipy.stats.pointbiserialr(x, y)
-		return {"r-value": results[0], "p-value": results[1]}
-
-	def kendall(self, x, y, initial_lexsort = None, nan_policy = 'propagate', method = 'auto'):
-
-		results = scipy.stats.kendalltau(x, y, initial_lexsort = initial_lexsort, nan_policy = nan_policy, method = method)
-		return {"tau": results[0], "p-value": results[1]}
-
-	def kendall_weighted(self, x, y, rank = True, weigher = None, additive = True):
-
-		results = scipy.stats.weightedtau(x, y, rank = rank, weigher = weigher, additive = additive)
-		return {"tau": results[0], "p-value": results[1]}
-
-	def mgc(self, x, y, compute_distance = None, reps = 1000, workers = 1, is_twosamp = False, random_state = None):
-
-		results = scipy.stats.multiscale_graphcorr(x, y, compute_distance = compute_distance, reps = reps, workers = workers, is_twosamp = is_twosamp, random_state = random_state)
-		return {"k-value": results[0], "p-value": results[1], "data": results[2]} # unsure if MGC test returns a k value
\ No newline at end of file
diff --git a/analysis-master/tra_analysis/KNN.py b/analysis-master/tra_analysis/KNN.py
index d594c72f..94c0503d 100644
--- a/analysis-master/tra_analysis/KNN.py
+++ b/analysis-master/tra_analysis/KNN.py
@@ -4,9 +4,13 @@
 #    this should be imported as a python module using 'from tra_analysis import KNN'
 # setup:
 
-__version__ = "1.0.0"
+__version__ = "1.0.2"
 
 __changelog__ = """changelog:
+	1.0.2:
+		- generalized optional args to **kwargs
+	1.0.1:
+		- optimized imports
 	1.0.0:
 		- ported analysis.KNN() here
 		- removed classness
@@ -23,22 +27,21 @@ __all__ = [
 ]
 
 import sklearn
-from sklearn import model_selection, neighbors
 from . import ClassificationMetric, RegressionMetric
 
-def knn_classifier(data, labels, n_neighbors = 5, test_size = 0.3, algorithm='auto', leaf_size=30, metric='minkowski', metric_params=None, n_jobs=None, p=2, weights='uniform'): #expects *2d data and 1d labels post-scaling
+def knn_classifier(data, labels, n_neighbors = 5, test_size = 0.3, **kwargs): #expects *2d data and 1d labels post-scaling
 
 	data_train, data_test, labels_train, labels_test = sklearn.model_selection.train_test_split(data, labels, test_size=test_size, random_state=1)
-	model = sklearn.neighbors.KNeighborsClassifier(n_neighbors = n_neighbors, weights = weights, algorithm = algorithm, leaf_size = leaf_size, p = p, metric = metric, metric_params = metric_params, n_jobs = n_jobs)
+	model = sklearn.neighbors.KNeighborsClassifier(n_neighbors = n_neighbors, **kwargs)
 	model.fit(data_train, labels_train)
 	predictions = model.predict(data_test)
 
 	return model, ClassificationMetric(predictions, labels_test)
 
-def knn_regressor(data, outputs, n_neighbors = 5, test_size = 0.3, weights = "uniform", algorithm = "auto", leaf_size = 30, p = 2, metric = "minkowski", metric_params = None, n_jobs = None):
+def knn_regressor(data, outputs, n_neighbors = 5, test_size = 0.3, **kwargs):
 
 	data_train, data_test, outputs_train, outputs_test = sklearn.model_selection.train_test_split(data, outputs, test_size=test_size, random_state=1)
-	model = sklearn.neighbors.KNeighborsRegressor(n_neighbors = n_neighbors, weights = weights, algorithm = algorithm, leaf_size = leaf_size, p = p, metric = metric, metric_params = metric_params, n_jobs = n_jobs)
+	model = sklearn.neighbors.KNeighborsRegressor(n_neighbors = n_neighbors, **kwargs)
 	model.fit(data_train, outputs_train)
 	predictions = model.predict(data_test)
 
diff --git a/analysis-master/tra_analysis/KNN_obj.py b/analysis-master/tra_analysis/KNN_obj.py
deleted file mode 100644
index b506bf6c..00000000
--- a/analysis-master/tra_analysis/KNN_obj.py
+++ /dev/null
@@ -1,25 +0,0 @@
-# Only included for backwards compatibility! Do not update, NaiveBayes is preferred and supported.
-
-import sklearn
-from sklearn import model_selection, neighbors
-from . import ClassificationMetric, RegressionMetric
-
-class KNN:
-
-	def knn_classifier(self, data, labels, n_neighbors, test_size = 0.3, algorithm='auto', leaf_size=30, metric='minkowski', metric_params=None, n_jobs=None, p=2, weights='uniform'): #expects *2d data and 1d labels post-scaling
-
-		data_train, data_test, labels_train, labels_test = sklearn.model_selection.train_test_split(data, labels, test_size=test_size, random_state=1)
-		model = sklearn.neighbors.KNeighborsClassifier()
-		model.fit(data_train, labels_train)
-		predictions = model.predict(data_test)
-
-		return model, ClassificationMetric(predictions, labels_test)
-
-	def knn_regressor(self, data, outputs, n_neighbors, test_size = 0.3, weights = "uniform", algorithm = "auto", leaf_size = 30, p = 2, metric = "minkowski", metric_params = None, n_jobs = None):
-
-		data_train, data_test, outputs_train, outputs_test = sklearn.model_selection.train_test_split(data, outputs, test_size=test_size, random_state=1)
-		model = sklearn.neighbors.KNeighborsRegressor(n_neighbors = n_neighbors, weights = weights, algorithm = algorithm, leaf_size = leaf_size, p = p, metric = metric, metric_params = metric_params, n_jobs = n_jobs)
-		model.fit(data_train, outputs_train)
-		predictions = model.predict(data_test)
-
-		return model, RegressionMetric(predictions, outputs_test)
\ No newline at end of file
diff --git a/analysis-master/tra_analysis/NaiveBayes.py b/analysis-master/tra_analysis/NaiveBayes.py
index f6b68f1e..75389392 100644
--- a/analysis-master/tra_analysis/NaiveBayes.py
+++ b/analysis-master/tra_analysis/NaiveBayes.py
@@ -4,9 +4,13 @@
 #    this should be imported as a python module using 'from tra_analysis import NaiveBayes'
 # setup:
 
-__version__ = "1.0.0"
+__version__ = "1.0.2"
 
 __changelog__ = """changelog:
+	1.0.2:
+		- generalized optional args to **kwargs
+	1.0.1:
+		- optimized imports
 	1.0.0:
 		- ported analysis.NaiveBayes() here
 		- removed classness
@@ -18,46 +22,45 @@ __author__ = (
 
 __all__ = [
 	'gaussian',
-	'multinomial'
+	'multinomial',
 	'bernoulli',
-	'complement'
+	'complement',
 ]
 
 import sklearn
-from sklearn import model_selection, naive_bayes
-from . import ClassificationMetric, RegressionMetric
+from . import ClassificationMetric
 
-def gaussian(data, labels, test_size = 0.3, priors = None, var_smoothing = 1e-09):
+def gaussian(data, labels, test_size = 0.3, **kwargs):
 
 	data_train, data_test, labels_train, labels_test = sklearn.model_selection.train_test_split(data, labels, test_size=test_size, random_state=1)
-	model = sklearn.naive_bayes.GaussianNB(priors = priors, var_smoothing = var_smoothing)
+	model = sklearn.naive_bayes.GaussianNB(**kwargs)
 	model.fit(data_train, labels_train)
 	predictions = model.predict(data_test)
 
 	return model, ClassificationMetric(predictions, labels_test)
 
-def multinomial(data, labels, test_size = 0.3, alpha=1.0, fit_prior=True, class_prior=None):
+def multinomial(data, labels, test_size = 0.3, **kwargs):
 
 	data_train, data_test, labels_train, labels_test = sklearn.model_selection.train_test_split(data, labels, test_size=test_size, random_state=1)
-	model = sklearn.naive_bayes.MultinomialNB(alpha = alpha, fit_prior = fit_prior, class_prior = class_prior)
+	model = sklearn.naive_bayes.MultinomialNB(**kwargs)
 	model.fit(data_train, labels_train)
 	predictions = model.predict(data_test)
 
 	return model, ClassificationMetric(predictions, labels_test)
 
-def bernoulli(data, labels, test_size = 0.3, alpha=1.0, binarize=0.0, fit_prior=True, class_prior=None):
+def bernoulli(data, labels, test_size = 0.3, **kwargs):
 
 	data_train, data_test, labels_train, labels_test = sklearn.model_selection.train_test_split(data, labels, test_size=test_size, random_state=1)
-	model = sklearn.naive_bayes.BernoulliNB(alpha = alpha, binarize = binarize, fit_prior = fit_prior, class_prior = class_prior)
+	model = sklearn.naive_bayes.BernoulliNB(**kwargs)
 	model.fit(data_train, labels_train)
 	predictions = model.predict(data_test)
 
 	return model, ClassificationMetric(predictions, labels_test)
 
-def complement(data, labels, test_size = 0.3, alpha=1.0, fit_prior=True, class_prior=None, norm=False):
+def complement(data, labels, test_size = 0.3, **kwargs):
 
 	data_train, data_test, labels_train, labels_test = sklearn.model_selection.train_test_split(data, labels, test_size=test_size, random_state=1)
-	model = sklearn.naive_bayes.ComplementNB(alpha = alpha, fit_prior = fit_prior, class_prior = class_prior, norm = norm)
+	model = sklearn.naive_bayes.ComplementNB(**kwargs)
 	model.fit(data_train, labels_train)
 	predictions = model.predict(data_test)
 
diff --git a/analysis-master/tra_analysis/NaiveBayes_obj.py b/analysis-master/tra_analysis/NaiveBayes_obj.py
deleted file mode 100644
index 70e4d437..00000000
--- a/analysis-master/tra_analysis/NaiveBayes_obj.py
+++ /dev/null
@@ -1,43 +0,0 @@
-# Only included for backwards compatibility! Do not update, NaiveBayes is preferred and supported.
-
-import sklearn
-from sklearn import model_selection, naive_bayes
-from . import ClassificationMetric, RegressionMetric
-
-class NaiveBayes:
-
-	def guassian(self, data, labels, test_size = 0.3, priors = None, var_smoothing = 1e-09):
-
-		data_train, data_test, labels_train, labels_test = sklearn.model_selection.train_test_split(data, labels, test_size=test_size, random_state=1)
-		model = sklearn.naive_bayes.GaussianNB(priors = priors, var_smoothing = var_smoothing)
-		model.fit(data_train, labels_train)
-		predictions = model.predict(data_test)
-
-		return model, ClassificationMetric(predictions, labels_test)
-
-	def multinomial(self, data, labels, test_size = 0.3, alpha=1.0, fit_prior=True, class_prior=None):
-
-		data_train, data_test, labels_train, labels_test = sklearn.model_selection.train_test_split(data, labels, test_size=test_size, random_state=1)
-		model = sklearn.naive_bayes.MultinomialNB(alpha = alpha, fit_prior = fit_prior, class_prior = class_prior)
-		model.fit(data_train, labels_train)
-		predictions = model.predict(data_test)
-
-		return model, ClassificationMetric(predictions, labels_test)
-
-	def bernoulli(self, data, labels, test_size = 0.3, alpha=1.0, binarize=0.0, fit_prior=True, class_prior=None):
-
-		data_train, data_test, labels_train, labels_test = sklearn.model_selection.train_test_split(data, labels, test_size=test_size, random_state=1)
-		model = sklearn.naive_bayes.BernoulliNB(alpha = alpha, binarize = binarize, fit_prior = fit_prior, class_prior = class_prior)
-		model.fit(data_train, labels_train)
-		predictions = model.predict(data_test)
-
-		return model, ClassificationMetric(predictions, labels_test)
-
-	def complement(self, data, labels, test_size = 0.3, alpha=1.0, fit_prior=True, class_prior=None, norm=False):
-
-		data_train, data_test, labels_train, labels_test = sklearn.model_selection.train_test_split(data, labels, test_size=test_size, random_state=1)
-		model = sklearn.naive_bayes.ComplementNB(alpha = alpha, fit_prior = fit_prior, class_prior = class_prior, norm = norm)
-		model.fit(data_train, labels_train)
-		predictions = model.predict(data_test)
-
-		return model, ClassificationMetric(predictions, labels_test)
\ No newline at end of file
diff --git a/analysis-master/tra_analysis/RandomForest.py b/analysis-master/tra_analysis/RandomForest.py
index 44bee009..11f02f68 100644
--- a/analysis-master/tra_analysis/RandomForest.py
+++ b/analysis-master/tra_analysis/RandomForest.py
@@ -4,9 +4,14 @@
 #    this should be imported as a python module using 'from tra_analysis import RandomForest'
 # setup:
 
-__version__ = "1.0.1"
+__version__ = "1.0.3"
 
 __changelog__ = """changelog:
+	1.0.3:
+		- updated RandomForestClassifier and RandomForestRegressor parameters to match sklearn v 1.0.2
+		- changed default values for kwargs to rely on sklearn
+	1.0.2:
+		- optimized imports
 	1.0.1:
 		- fixed __all__
 	1.0.0:
@@ -23,23 +28,22 @@ __all__ = [
 	"random_forest_regressor",
 ]
 
-import sklearn
-from sklearn import ensemble, model_selection
+import sklearn, sklearn.ensemble, sklearn.naive_bayes
 from . import ClassificationMetric, RegressionMetric
 
-def random_forest_classifier(data, labels, test_size, n_estimators, criterion="gini", max_depth=None, min_samples_split=2, min_samples_leaf=1, min_weight_fraction_leaf=0.0, max_features="auto", max_leaf_nodes=None, min_impurity_decrease=0.0, min_impurity_split=None, bootstrap=True, oob_score=False, n_jobs=None, random_state=None, verbose=0, warm_start=False, class_weight=None):
+def random_forest_classifier(data, labels, test_size, n_estimators, **kwargs):
 
 	data_train, data_test, labels_train, labels_test = sklearn.model_selection.train_test_split(data, labels, test_size=test_size, random_state=1)
-	kernel = sklearn.ensemble.RandomForestClassifier(n_estimators = n_estimators, criterion = criterion, max_depth = max_depth, min_samples_split = min_samples_split, min_samples_leaf = min_samples_leaf, min_weight_fraction_leaf = min_weight_fraction_leaf, max_leaf_nodes = max_leaf_nodes, min_impurity_decrease = min_impurity_decrease, bootstrap = bootstrap, oob_score = oob_score, n_jobs = n_jobs, random_state = random_state, verbose = verbose, warm_start = warm_start, class_weight = class_weight)
+	kernel = sklearn.ensemble.RandomForestClassifier(n_estimators = n_estimators, **kwargs)
 	kernel.fit(data_train, labels_train)
 	predictions = kernel.predict(data_test)
 
 	return kernel, ClassificationMetric(predictions, labels_test)
 
-def random_forest_regressor(data, outputs, test_size, n_estimators, criterion="mse", max_depth=None, min_samples_split=2, min_samples_leaf=1, min_weight_fraction_leaf=0.0, max_features="auto", max_leaf_nodes=None, min_impurity_decrease=0.0, min_impurity_split=None, bootstrap=True, oob_score=False, n_jobs=None, random_state=None, verbose=0, warm_start=False):
+def random_forest_regressor(data, outputs, test_size, n_estimators, **kwargs):
 
 	data_train, data_test, outputs_train, outputs_test = sklearn.model_selection.train_test_split(data, outputs, test_size=test_size, random_state=1)
-	kernel = sklearn.ensemble.RandomForestRegressor(n_estimators = n_estimators, criterion = criterion, max_depth = max_depth, min_samples_split = min_samples_split, min_weight_fraction_leaf = min_weight_fraction_leaf, max_features = max_features, max_leaf_nodes = max_leaf_nodes, min_impurity_decrease = min_impurity_decrease, min_impurity_split = min_impurity_split, bootstrap = bootstrap, oob_score = oob_score, n_jobs = n_jobs, random_state = random_state, verbose = verbose, warm_start = warm_start)
+	kernel = sklearn.ensemble.RandomForestRegressor(n_estimators = n_estimators, **kwargs)
 	kernel.fit(data_train, outputs_train)
 	predictions = kernel.predict(data_test)
 
diff --git a/analysis-master/tra_analysis/RandomForest_obj.py b/analysis-master/tra_analysis/RandomForest_obj.py
deleted file mode 100644
index c33f8dce..00000000
--- a/analysis-master/tra_analysis/RandomForest_obj.py
+++ /dev/null
@@ -1,25 +0,0 @@
-# Only included for backwards compatibility! Do not update, RandomForest is preferred and supported.
-
-import sklearn
-from sklearn import ensemble, model_selection
-from . import ClassificationMetric, RegressionMetric
-
-class RandomForest:
-
-	def random_forest_classifier(self, data, labels, test_size, n_estimators, criterion="gini", max_depth=None, min_samples_split=2, min_samples_leaf=1, min_weight_fraction_leaf=0.0, max_features="auto", max_leaf_nodes=None, min_impurity_decrease=0.0, min_impurity_split=None, bootstrap=True, oob_score=False, n_jobs=None, random_state=None, verbose=0, warm_start=False, class_weight=None):
-
-		data_train, data_test, labels_train, labels_test = sklearn.model_selection.train_test_split(data, labels, test_size=test_size, random_state=1)
-		kernel = sklearn.ensemble.RandomForestClassifier(n_estimators = n_estimators, criterion = criterion, max_depth = max_depth, min_samples_split = min_samples_split, min_samples_leaf = min_samples_leaf, min_weight_fraction_leaf = min_weight_fraction_leaf, max_leaf_nodes = max_leaf_nodes, min_impurity_decrease = min_impurity_decrease, bootstrap = bootstrap, oob_score = oob_score, n_jobs = n_jobs, random_state = random_state, verbose = verbose, warm_start = warm_start, class_weight = class_weight)
-		kernel.fit(data_train, labels_train)
-		predictions = kernel.predict(data_test)
-
-		return kernel, ClassificationMetric(predictions, labels_test)
-
-	def random_forest_regressor(self, data, outputs, test_size, n_estimators, criterion="mse", max_depth=None, min_samples_split=2, min_samples_leaf=1, min_weight_fraction_leaf=0.0, max_features="auto", max_leaf_nodes=None, min_impurity_decrease=0.0, min_impurity_split=None, bootstrap=True, oob_score=False, n_jobs=None, random_state=None, verbose=0, warm_start=False):
-
-		data_train, data_test, outputs_train, outputs_test = sklearn.model_selection.train_test_split(data, outputs, test_size=test_size, random_state=1)
-		kernel = sklearn.ensemble.RandomForestRegressor(n_estimators = n_estimators, criterion = criterion, max_depth = max_depth, min_samples_split = min_samples_split, min_weight_fraction_leaf = min_weight_fraction_leaf, max_features = max_features, max_leaf_nodes = max_leaf_nodes, min_impurity_decrease = min_impurity_decrease, min_impurity_split = min_impurity_split, bootstrap = bootstrap, oob_score = oob_score, n_jobs = n_jobs, random_state = random_state, verbose = verbose, warm_start = warm_start)
-		kernel.fit(data_train, outputs_train)
-		predictions = kernel.predict(data_test)
-
-		return kernel, RegressionMetric(predictions, outputs_test)
\ No newline at end of file
diff --git a/analysis-master/tra_analysis/RegressionMetric.py b/analysis-master/tra_analysis/RegressionMetric.py
index 0b985493..e71689d4 100644
--- a/analysis-master/tra_analysis/RegressionMetric.py
+++ b/analysis-master/tra_analysis/RegressionMetric.py
@@ -4,9 +4,11 @@
 #    this should be imported as a python module using 'from tra_analysis import RegressionMetric'
 # setup:
 
-__version__ = "1.0.0"
+__version__ = "1.0.1"
 
 __changelog__ = """changelog:
+	1.0.1:
+		- optimized imports
 	1.0.0:
 		- ported analysis.RegressionMetric() here
 """
@@ -21,7 +23,6 @@ __all__ = [
 
 import numpy as np
 import sklearn
-from sklearn import metrics
 
 class RegressionMetric():
 
diff --git a/analysis-master/tra_analysis/SVM.py b/analysis-master/tra_analysis/SVM.py
index acf189f3..02b86138 100644
--- a/analysis-master/tra_analysis/SVM.py
+++ b/analysis-master/tra_analysis/SVM.py
@@ -4,9 +4,11 @@
 #    this should be imported as a python module using 'from tra_analysis import SVM'
 # setup:
 
-__version__ = "1.0.2"
+__version__ = "1.0.3"
 
 __changelog__ = """changelog:
+	1.0.3:
+		- optimized imports
 	1.0.2: 
 		- fixed __all__
 	1.0.1:
@@ -30,7 +32,6 @@ __all__ = [
 ]
 
 import sklearn
-from sklearn import svm
 from . import ClassificationMetric, RegressionMetric
 
 class CustomKernel:
diff --git a/analysis-master/tra_analysis/Sort.py b/analysis-master/tra_analysis/Sort.py
index 63dc3677..90ba6409 100644
--- a/analysis-master/tra_analysis/Sort.py
+++ b/analysis-master/tra_analysis/Sort.py
@@ -16,7 +16,7 @@ __changelog__ = """changelog:
 
 __author__ = (
 	"Arthur Lu <learthurgo@gmail.com>",
-	"James Pan <zpan@imsa.edu>"
+	"James Pan <zpan@imsa.edu>",
 )
 
 __all__ = [
diff --git a/analysis-master/tra_analysis/Sort_obj.py b/analysis-master/tra_analysis/Sort_obj.py
deleted file mode 100644
index b80b4760..00000000
--- a/analysis-master/tra_analysis/Sort_obj.py
+++ /dev/null
@@ -1,391 +0,0 @@
-# Only included for backwards compatibility! Do not update, Sort is preferred and supported.
-
-class Sort: # if you haven't used a sort, then you've never lived
-
-	def quicksort(self, a):
-
-		def sort(array):
-
-			less = []
-			equal = []
-			greater = []
-
-			if len(array) > 1:
-				pivot = array[0]
-				for x in array:
-					if x < pivot:
-						less.append(x)
-					elif x == pivot:
-						equal.append(x)
-					elif x > pivot:
-						greater.append(x)
-				return sort(less)+equal+sort(greater) 
-			else:
-				return array
-
-		return np.array(sort(a))
-
-	def mergesort(self, a):
-
-		def sort(array):
-
-			array = array
-
-			if len(array) >1: 
-				middle = len(array) // 2
-				L = array[:middle]
-				R = array[middle:]
-		
-				sort(L)
-				sort(R)
-		
-				i = j = k = 0
-
-				while i < len(L) and j < len(R): 
-					if L[i] < R[j]: 
-						array[k] = L[i] 
-						i+= 1
-					else: 
-						array[k] = R[j] 
-						j+= 1
-					k+= 1
-
-				while i < len(L): 
-					array[k] = L[i] 
-					i+= 1
-					k+= 1
-				
-				while j < len(R): 
-					array[k] = R[j] 
-					j+= 1
-					k+= 1
-
-				return array
-
-		return sort(a)
-
-	def introsort(self, a):
-
-		def sort(array, start, end, maxdepth):
-
-			array = array
-
-			if end - start <= 1:
-				return
-			elif maxdepth == 0:
-				heapsort(array, start, end)
-			else:
-				p = partition(array, start, end)
-				sort(array, start, p + 1, maxdepth - 1)
-				sort(array, p + 1, end, maxdepth - 1)
-
-			return array
-
-		def partition(array, start, end):
-			pivot = array[start]
-			i = start - 1
-			j = end
-		
-			while True:
-				i = i + 1
-				while array[i] < pivot:
-					i = i + 1
-				j = j - 1
-				while array[j] > pivot:
-					j = j - 1
-		
-				if i >= j:
-					return j
-		
-				swap(array, i, j)
-
-		def swap(array, i, j):
-			array[i], array[j] = array[j], array[i]
-
-		def heapsort(array, start, end):
-			build_max_heap(array, start, end)
-			for i in range(end - 1, start, -1):
-				swap(array, start, i)
-				max_heapify(array, index=0, start=start, end=i)
-
-		def build_max_heap(array, start, end):
-			def parent(i):
-				return (i - 1)//2
-			length = end - start
-			index = parent(length - 1)
-			while index >= 0:
-				max_heapify(array, index, start, end)
-				index = index - 1
-
-		def max_heapify(array, index, start, end):
-			def left(i):
-				return 2*i + 1
-			def right(i):
-				return 2*i + 2
-		
-			size = end - start
-			l = left(index)
-			r = right(index)
-			if (l < size and array[start + l] > array[start + index]):
-				largest = l
-			else:
-				largest = index
-			if (r < size and array[start + r] > array[start + largest]):
-				largest = r
-			if largest != index:
-				swap(array, start + largest, start + index)
-				max_heapify(array, largest, start, end)
-
-		maxdepth = (len(a).bit_length() - 1)*2
-
-		return sort(a, 0, len(a), maxdepth)
-
-	def heapsort(self, a):
-
-		def sort(array):
-			
-			array = array
-
-			n = len(array) 
- 
-			for i in range(n//2 - 1, -1, -1): 
-				heapify(array, n, i) 
-
-			for i in range(n-1, 0, -1): 
-				array[i], array[0] = array[0], array[i]
-				heapify(array, i, 0) 
-
-			return array
-
-		def heapify(array, n, i):
-
-			array = array
-
-			largest = i
-			l = 2 * i + 1
-			r = 2 * i + 2
-
-			if l < n and array[i] < array[l]: 
-				largest = l 
-
-			if r < n and array[largest] < array[r]: 
-				largest = r 
-
-			if largest != i: 
-				array[i],array[largest] = array[largest],array[i]
-				heapify(array, n, largest)
-			
-			return array
-
-		return sort(a)
-
-	def insertionsort(self, a):
-
-		def sort(array):
-
-			array = array
-
-			for i in range(1, len(array)): 
-		
-				key = array[i] 
-
-				j = i-1
-				while j >=0 and key < array[j] : 
-						array[j+1] = array[j] 
-						j -= 1
-				array[j+1] = key 
-
-			return array
-
-		return sort(a)
-
-	def timsort(self, a, block = 32):
-
-		BLOCK = block
-
-		def sort(array, n):
-
-			array = array
-
-			for i in range(0, n, BLOCK):  
-				insertionsort(array, i, min((i+31), (n-1)))
-
-			size = BLOCK 
-			while size < n:
-
-				for left in range(0, n, 2*size):  
-	 
-					mid = left + size - 1 
-					right = min((left + 2*size - 1), (n-1))  
-					merge(array, left, mid, right)  
-		  
-				size = 2*size
-
-			return array
-
-		def insertionsort(array, left, right):
-
-			array = array 
-   
-			for i in range(left + 1, right+1):  
-			
-				temp = array[i]  
-				j = i - 1 
-				while j >= left and array[j] > temp :  
-				
-					array[j+1] = array[j]  
-					j -= 1
-				
-				array[j+1] = temp
-
-			return array
-			
- 
-		def merge(array, l, m, r): 
-		
-			len1, len2 =  m - l + 1, r - m  
-			left, right = [], []  
-			for i in range(0, len1):  
-				left.append(array[l + i])  
-			for i in range(0, len2):  
-				right.append(array[m + 1 + i])  
-			
-			i, j, k = 0, 0, l 
-
-			while i < len1 and j < len2:  
-			
-				if left[i] <= right[j]:  
-					array[k] = left[i]  
-					i += 1 
-				
-				else: 
-					array[k] = right[j]  
-					j += 1 
-				
-				k += 1
-
-			while i < len1:  
-			
-				array[k] = left[i]  
-				k += 1 
-				i += 1
-
-			while j < len2:  
-				array[k] = right[j]  
-				k += 1
-				j += 1
-
-		return sort(a, len(a))
-	
-	def selectionsort(self, a):
-		array = a
-		for i in range(len(array)): 
-			min_idx = i
-			for j in range(i+1, len(array)): 
-				if array[min_idx] > array[j]: 
-					min_idx = j         
-			array[i], array[min_idx] = array[min_idx], array[i]
-		return array
-
-	def shellsort(self, a):
-		array = a
-		n = len(array)
-		gap = n//2
-
-		while gap > 0: 
-	
-			for i in range(gap,n): 
-
-				temp = array[i] 
-				j = i 
-				while  j >= gap and array[j-gap] >temp: 
-					array[j] = array[j-gap] 
-					j -= gap 
-				array[j] = temp 
-			gap //= 2
-
-		return array
-
-	def bubblesort(self, a):
-
-		def sort(array):
-			for i, num in enumerate(array):
-				try:
-					if array[i+1] < num:
-						array[i] = array[i+1]
-						array[i+1] = num
-						sort(array)
-				except IndexError:
-					pass
-			return array
-
-		return sort(a)
-
-	def cyclesort(self, a):
-
-		def sort(array):
-
-			array = array
-			writes = 0
-
-			for cycleStart in range(0, len(array) - 1): 
-				item = array[cycleStart] 
-
-				pos = cycleStart 
-				for i in range(cycleStart + 1, len(array)): 
-					if array[i] < item: 
-						pos += 1
-
-				if pos == cycleStart: 
-					continue
-
-				while item == array[pos]: 
-					pos += 1
-					array[pos], item = item, array[pos] 
-					writes += 1
-
-				while pos != cycleStart: 
-
-					pos = cycleStart 
-					for i in range(cycleStart + 1, len(array)): 
-						if array[i] < item: 
-							pos += 1
-
-					while item == array[pos]: 
-						pos += 1
-					array[pos], item = item, array[pos] 
-					writes += 1
-				
-			return array
-		
-		return sort(a)
-
-	def cocktailsort(self, a):
-
-		def sort(array):
-
-			array = array
-
-			n = len(array) 
-			swapped = True
-			start = 0
-			end = n-1
-			while (swapped == True): 
-				swapped = False
-				for i in range (start, end): 
-					if (array[i] > array[i + 1]) : 
-						array[i], array[i + 1]= array[i + 1], array[i] 
-						swapped = True
-				if (swapped == False): 
-					break
-				swapped = False
-				end = end-1
-				for i in range(end-1, start-1, -1): 
-					if (array[i] > array[i + 1]): 
-						array[i], array[i + 1] = array[i + 1], array[i] 
-						swapped = True
-				start = start + 1
-
-			return array
-
-		return sort(a)
\ No newline at end of file
diff --git a/analysis-master/tra_analysis/StatisticalTest.py b/analysis-master/tra_analysis/StatisticalTest.py
index 44fa3a07..e07649e9 100644
--- a/analysis-master/tra_analysis/StatisticalTest.py
+++ b/analysis-master/tra_analysis/StatisticalTest.py
@@ -4,9 +4,11 @@
 #    this should be imported as a python module using 'from tra_analysis import StatisticalTest'
 # setup:
 
-__version__ = "1.0.2"
+__version__ = "1.0.3"
 
 __changelog__ = """changelog:
+	1.0.3:
+		- optimized imports
 	1.0.2:
 		- added tukey_multicomparison
 		- fixed styling
@@ -61,7 +63,6 @@ __all__ = [
 
 import numpy as np
 import scipy
-from scipy import stats, interpolate
 
 def ttest_onesample(a, popmean, axis = 0, nan_policy = 'propagate'):
 
@@ -279,9 +280,9 @@ def get_tukeyQcrit(k, df, alpha=0.05):
 	cv001 = c[:, 2::2]
 
 	if alpha == 0.05:
-		intp = interpolate.interp1d(crows, cv005[:,k-2])
+		intp = scipy.interpolate.interp1d(crows, cv005[:,k-2])
 	elif alpha == 0.01:
-		intp = interpolate.interp1d(crows, cv001[:,k-2])
+		intp = scipy.interpolate.interp1d(crows, cv001[:,k-2])
 	else:
 		raise ValueError('only implemented for alpha equal to 0.01 and 0.05')
 	return intp(df)
diff --git a/analysis-master/tra_analysis/StatisticalTest_obj.py b/analysis-master/tra_analysis/StatisticalTest_obj.py
deleted file mode 100644
index b45c2f9f..00000000
--- a/analysis-master/tra_analysis/StatisticalTest_obj.py
+++ /dev/null
@@ -1,170 +0,0 @@
-# Only included for backwards compatibility! Do not update, StatisticalTest is preferred and supported.
-
-import scipy
-from scipy import stats
-
-class StatisticalTest:
-
-	def ttest_onesample(self, a, popmean, axis = 0, nan_policy = 'propagate'):
-
-		results = scipy.stats.ttest_1samp(a, popmean, axis = axis, nan_policy = nan_policy)
-		return {"t-value": results[0], "p-value": results[1]}
-
-	def ttest_independent(self, a, b, equal = True, nan_policy = 'propagate'):
-
-		results = scipy.stats.ttest_ind(a, b, equal_var = equal, nan_policy = nan_policy)
-		return {"t-value": results[0], "p-value": results[1]}
-
-	def ttest_statistic(self, o1, o2, equal = True):
-
-		results = scipy.stats.ttest_ind_from_stats(o1["mean"], o1["std"], o1["nobs"], o2["mean"], o2["std"], o2["nobs"], equal_var = equal)
-		return {"t-value": results[0], "p-value": results[1]}
-
-	def ttest_related(self, a, b, axis = 0, nan_policy='propagate'):
-
-		results = scipy.stats.ttest_rel(a, b, axis = axis, nan_policy = nan_policy)
-		return {"t-value": results[0], "p-value": results[1]}
-
-	def ks_fitness(self, rvs, cdf, args = (), N = 20, alternative = 'two-sided', mode = 'approx'):
-
-		results = scipy.stats.kstest(rvs, cdf, args = args, N = N, alternative = alternative, mode = mode)
-		return {"ks-value": results[0], "p-value": results[1]}
-
-	def chisquare(self, f_obs, f_exp = None, ddof = None, axis = 0):
-
-		results = scipy.stats.chisquare(f_obs, f_exp = f_exp, ddof = ddof, axis = axis)
-		return {"chisquared-value": results[0], "p-value": results[1]}
-
-	def powerdivergence(self, f_obs, f_exp = None, ddof = None, axis = 0, lambda_ = None):
-
-		results = scipy.stats.power_divergence(f_obs, f_exp = f_exp, ddof = ddof, axis = axis, lambda_ = lambda_)
-		return {"powerdivergence-value": results[0], "p-value": results[1]}
-
-	def ks_twosample(self, x, y, alternative = 'two_sided', mode = 'auto'):
-		
-		results = scipy.stats.ks_2samp(x, y, alternative = alternative, mode = mode)
-		return {"ks-value": results[0], "p-value": results[1]}
-
-	def es_twosample(self, x, y, t = (0.4, 0.8)):
-
-		results = scipy.stats.epps_singleton_2samp(x, y, t = t)
-		return {"es-value": results[0], "p-value": results[1]}
-
-	def mw_rank(self, x, y, use_continuity = True, alternative = None):
-
-		results = scipy.stats.mannwhitneyu(x, y, use_continuity = use_continuity, alternative = alternative)
-		return {"u-value": results[0], "p-value": results[1]}
-
-	def mw_tiecorrection(self, rank_values):
-
-		results = scipy.stats.tiecorrect(rank_values)
-		return {"correction-factor": results}
-
-	def rankdata(self, a, method = 'average'):
-
-		results = scipy.stats.rankdata(a, method = method)
-		return results
-
-	def wilcoxon_ranksum(self, a, b): # this seems to be superceded by Mann Whitney Wilcoxon U Test
-
-		results = scipy.stats.ranksums(a, b)
-		return {"u-value": results[0], "p-value": results[1]}
-
-	def wilcoxon_signedrank(self, x, y = None, zero_method = 'wilcox', correction = False, alternative = 'two-sided'):
-
-		results = scipy.stats.wilcoxon(x, y = y, zero_method = zero_method, correction = correction, alternative = alternative)
-		return {"t-value": results[0], "p-value": results[1]}
-
-	def kw_htest(self, *args, nan_policy = 'propagate'):
-
-		results = scipy.stats.kruskal(*args, nan_policy = nan_policy)
-		return {"h-value": results[0], "p-value": results[1]}
-
-	def friedman_chisquare(self, *args):
-
-		results = scipy.stats.friedmanchisquare(*args)
-		return {"chisquared-value": results[0], "p-value": results[1]}
-
-	def bm_wtest(self, x, y, alternative = 'two-sided', distribution = 't', nan_policy = 'propagate'):
-
-		results = scipy.stats.brunnermunzel(x, y, alternative = alternative, distribution = distribution, nan_policy = nan_policy)
-		return {"w-value": results[0], "p-value": results[1]}
-
-	def combine_pvalues(self, pvalues, method = 'fisher', weights = None):
-
-		results = scipy.stats.combine_pvalues(pvalues, method = method, weights = weights)
-		return {"combined-statistic": results[0], "p-value": results[1]}
-
-	def jb_fitness(self, x):
-
-		results = scipy.stats.jarque_bera(x)
-		return {"jb-value": results[0], "p-value": results[1]}
-
-	def ab_equality(self, x, y):
-
-		results = scipy.stats.ansari(x, y)
-		return {"ab-value": results[0], "p-value": results[1]}
-
-	def bartlett_variance(self, *args):
-
-		results = scipy.stats.bartlett(*args)
-		return {"t-value": results[0], "p-value": results[1]}
-
-	def levene_variance(self, *args, center = 'median', proportiontocut = 0.05):
-
-		results = scipy.stats.levene(*args, center = center, proportiontocut = proportiontocut)
-		return {"w-value": results[0], "p-value": results[1]}
-
-	def sw_normality(self, x):
-
-		results = scipy.stats.shapiro(x)
-		return {"w-value": results[0], "p-value": results[1]}
-
-	def shapiro(self, x):
-
-		return "destroyed by facts and logic"
-
-	def ad_onesample(self, x, dist = 'norm'):
-
-		results = scipy.stats.anderson(x, dist = dist)
-		return {"d-value": results[0], "critical-values": results[1], "significance-value": results[2]}
-	
-	def ad_ksample(self, samples, midrank = True):
-
-		results = scipy.stats.anderson_ksamp(samples, midrank = midrank)
-		return {"d-value": results[0], "critical-values": results[1], "significance-value": results[2]}
-
-	def binomial(self, x, n = None, p = 0.5, alternative = 'two-sided'):
-
-		results = scipy.stats.binom_test(x, n = n, p = p, alternative = alternative)
-		return {"p-value": results}
-
-	def fk_variance(self, *args, center = 'median', proportiontocut = 0.05):
-
-		results = scipy.stats.fligner(*args, center = center, proportiontocut = proportiontocut)
-		return {"h-value": results[0], "p-value": results[1]} # unknown if the statistic is an h value
-
-	def mood_mediantest(self, *args, ties = 'below', correction = True, lambda_ = 1, nan_policy = 'propagate'):
-
-		results = scipy.stats.median_test(*args, ties = ties, correction = correction, lambda_ = lambda_, nan_policy = nan_policy)
-		return {"chisquared-value": results[0], "p-value": results[1], "m-value": results[2], "table": results[3]}
-
-	def mood_equalscale(self, x, y, axis = 0):
-
-		results = scipy.stats.mood(x, y, axis = axis)
-		return {"z-score": results[0], "p-value": results[1]}
-
-	def skewtest(self, a, axis = 0, nan_policy = 'propogate'):
-
-		results = scipy.stats.skewtest(a, axis = axis, nan_policy = nan_policy)
-		return {"z-score": results[0], "p-value": results[1]}
-
-	def kurtosistest(self, a, axis = 0, nan_policy = 'propogate'):
-
-		results = scipy.stats.kurtosistest(a, axis = axis, nan_policy = nan_policy)
-		return {"z-score": results[0], "p-value": results[1]}
-
-	def normaltest(self, a, axis = 0, nan_policy = 'propogate'):
-
-		results = scipy.stats.normaltest(a, axis = axis, nan_policy = nan_policy)
-		return {"z-score": results[0], "p-value": results[1]}
\ No newline at end of file
diff --git a/analysis-master/tra_analysis/__init__.py b/analysis-master/tra_analysis/__init__.py
index 2aef5c1b..d74c1c9d 100644
--- a/analysis-master/tra_analysis/__init__.py
+++ b/analysis-master/tra_analysis/__init__.py
@@ -7,10 +7,17 @@
 #    current benchmark of optimization: 1.33 times faster
 # setup:
 
-__version__ = "3.0.0"
+__version__ = "4.0.0-dev"
 
 # changelog should be viewed using print(analysis.__changelog__)
 __changelog__ = """changelog:
+	4.0.0:
+		- deprecated all *_obj.py compatibility modules
+		- deprecated titanlearn.py
+		- deprecated visualization.py
+		- removed matplotlib from requirements
+		- removed extra submodule imports in Analysis
+		- added typehinting, docstrings for each function
 	3.0.0:
 		- incremented version to release 3.0.0
 	3.0.0-rc2:
@@ -40,6 +47,7 @@ __all__ = [
 	"Analysis",
 	"Array",
 	"ClassificationMetric",
+	"Clustering",
 	"CorrelationTest",
 	"Expression",
 	"Fit",
@@ -53,9 +61,9 @@ __all__ = [
 ]
 
 from . import Analysis as Analysis
-from . import Analysis as analysis
 from .Array import Array
 from .ClassificationMetric import ClassificationMetric
+from . import Clustering
 from . import CorrelationTest
 from .equation import Expression
 from . import Fit
diff --git a/analysis-master/tra_analysis/metrics/__init__.py b/analysis-master/tra_analysis/metrics/__init__.py
index e69de29b..b8d5a509 100644
--- a/analysis-master/tra_analysis/metrics/__init__.py
+++ b/analysis-master/tra_analysis/metrics/__init__.py
@@ -0,0 +1,24 @@
+# Titan Robotics Team 2022: Metrics submodule
+# Written by Arthur Lu
+# Notes:
+#    this should be imported as a python module using 'from tra_analysis import metrics'
+# setup:
+
+__version__ = "1.0.0"
+
+__changelog__ = """changelog:
+	1.0.0:
+		- implemented elo, glicko2, trueskill
+"""
+
+__author__ = (
+	"Arthur Lu <learthurgo@gmail.com>",
+)
+
+__all__ = {
+	"Expression"
+}
+
+from . import elo
+from . import glicko2
+from . import trueskill
\ No newline at end of file
diff --git a/analysis-master/tra_analysis/regression_old.py b/analysis-master/tra_analysis/regression_old.py
deleted file mode 100644
index 82e8fbb1..00000000
--- a/analysis-master/tra_analysis/regression_old.py
+++ /dev/null
@@ -1,222 +0,0 @@
-# Titan Robotics Team 2022: CUDA-based Regressions Module
-# Not actively maintained, may be removed in future release
-# Written by Arthur Lu & Jacob Levine
-# Notes:
-#   this module has been automatically inegrated into analysis.py, and should be callable as a class from the package
-#   this module is cuda-optimized (as appropriate) and vectorized (except for one small part)
-# setup:
-
-__version__ = "0.0.4"
-
-# changelog should be viewed using print(analysis.regression.__changelog__)
-__changelog__ = """
-	0.0.4:
-		- bug fixes
-		- fixed changelog
-	0.0.3:
-		- bug fixes
-	0.0.2:
-		-Added more parameters to log, exponential, polynomial
-		-Added SigmoidalRegKernelArthur, because Arthur apparently needs
-		to train the scaling and shifting of sigmoids
-	0.0.1:
-		-initial release, with linear, log, exponential, polynomial, and sigmoid kernels
-		-already vectorized (except for polynomial generation) and CUDA-optimized
-"""
-
-__author__ = (
-	"Jacob Levine <jlevine@imsa.edu>",
-	"Arthur Lu <learthurgo@gmail.com>",
-)
-
-__all__ = [
-	'factorial',
-	'take_all_pwrs',
-	'num_poly_terms',
-	'set_device',
-	'LinearRegKernel',
-	'SigmoidalRegKernel',
-	'LogRegKernel',
-	'PolyRegKernel',
-	'ExpRegKernel',
-	'SigmoidalRegKernelArthur',
-	'SGDTrain',
-	'CustomTrain',
-	'CircleFit'
-]
-
-import torch
-
-global device
-
-device = "cuda:0" if torch.cuda.is_available() else "cpu"
-
-#todo: document completely
-
-def set_device(self, new_device):
-	device=new_device
-
-class LinearRegKernel():
-	parameters= []
-	weights=None
-	bias=None
-	def __init__(self, num_vars):
-		self.weights=torch.rand(num_vars, requires_grad=True, device=device)
-		self.bias=torch.rand(1, requires_grad=True, device=device)
-		self.parameters=[self.weights,self.bias]
-	def forward(self,mtx):
-		long_bias=self.bias.repeat([1,mtx.size()[1]])
-		return torch.matmul(self.weights,mtx)+long_bias
-
-class SigmoidalRegKernel():
-	parameters= []
-	weights=None
-	bias=None
-	sigmoid=torch.nn.Sigmoid()
-	def __init__(self, num_vars):
-		self.weights=torch.rand(num_vars, requires_grad=True, device=device)
-		self.bias=torch.rand(1, requires_grad=True, device=device)
-		self.parameters=[self.weights,self.bias]
-	def forward(self,mtx):
-		long_bias=self.bias.repeat([1,mtx.size()[1]])
-		return self.sigmoid(torch.matmul(self.weights,mtx)+long_bias)
-
-class SigmoidalRegKernelArthur():
-	parameters= []
-	weights=None
-	in_bias=None
-	scal_mult=None
-	out_bias=None
-	sigmoid=torch.nn.Sigmoid()
-	def __init__(self, num_vars):
-		self.weights=torch.rand(num_vars, requires_grad=True, device=device)
-		self.in_bias=torch.rand(1, requires_grad=True, device=device)
-		self.scal_mult=torch.rand(1, requires_grad=True, device=device)
-		self.out_bias=torch.rand(1, requires_grad=True, device=device)
-		self.parameters=[self.weights,self.in_bias, self.scal_mult, self.out_bias]
-	def forward(self,mtx):
-		long_in_bias=self.in_bias.repeat([1,mtx.size()[1]])
-		long_out_bias=self.out_bias.repeat([1,mtx.size()[1]])
-		return (self.scal_mult*self.sigmoid(torch.matmul(self.weights,mtx)+long_in_bias))+long_out_bias
-
-class LogRegKernel():
-	parameters= []
-	weights=None
-	in_bias=None
-	scal_mult=None
-	out_bias=None
-	def __init__(self, num_vars):
-		self.weights=torch.rand(num_vars, requires_grad=True, device=device)
-		self.in_bias=torch.rand(1, requires_grad=True, device=device)
-		self.scal_mult=torch.rand(1, requires_grad=True, device=device)
-		self.out_bias=torch.rand(1, requires_grad=True, device=device)
-		self.parameters=[self.weights,self.in_bias, self.scal_mult, self.out_bias]
-	def forward(self,mtx):
-		long_in_bias=self.in_bias.repeat([1,mtx.size()[1]])
-		long_out_bias=self.out_bias.repeat([1,mtx.size()[1]])
-		return (self.scal_mult*torch.log(torch.matmul(self.weights,mtx)+long_in_bias))+long_out_bias
-
-class ExpRegKernel():
-	parameters= []
-	weights=None
-	in_bias=None
-	scal_mult=None
-	out_bias=None
-	def __init__(self, num_vars):
-		self.weights=torch.rand(num_vars, requires_grad=True, device=device)
-		self.in_bias=torch.rand(1, requires_grad=True, device=device)
-		self.scal_mult=torch.rand(1, requires_grad=True, device=device)
-		self.out_bias=torch.rand(1, requires_grad=True, device=device)
-		self.parameters=[self.weights,self.in_bias, self.scal_mult, self.out_bias]
-	def forward(self,mtx):
-		long_in_bias=self.in_bias.repeat([1,mtx.size()[1]])
-		long_out_bias=self.out_bias.repeat([1,mtx.size()[1]])
-		return (self.scal_mult*torch.exp(torch.matmul(self.weights,mtx)+long_in_bias))+long_out_bias
-
-class PolyRegKernel():
-	parameters= []
-	weights=None
-	bias=None
-	power=None
-	def __init__(self, num_vars, power):
-		self.power=power
-		num_terms=self.num_poly_terms(num_vars, power)
-		self.weights=torch.rand(num_terms, requires_grad=True, device=device)
-		self.bias=torch.rand(1, requires_grad=True, device=device)
-		self.parameters=[self.weights,self.bias]
-	def num_poly_terms(self,num_vars, power):
-		if power == 0:
-			return 0
-		return int(self.factorial(num_vars+power-1) / self.factorial(power) / self.factorial(num_vars-1)) + self.num_poly_terms(num_vars, power-1)
-	def factorial(self,n):
-		if n==0:
-			return 1
-		else:
-			return n*self.factorial(n-1)
-	def take_all_pwrs(self, vec, pwr):
-		#todo: vectorize (kinda)
-		combins=torch.combinations(vec, r=pwr, with_replacement=True)
-		out=torch.ones(combins.size()[0]).to(device).to(torch.float)
-		for i in torch.t(combins).to(device).to(torch.float):
-			out *= i
-		if pwr == 1:
-			return out
-		else:
-			return torch.cat((out,self.take_all_pwrs(vec, pwr-1)))
-	def forward(self,mtx):
-		#TODO: Vectorize the last part
-		cols=[]
-		for i in torch.t(mtx):
-			cols.append(self.take_all_pwrs(i,self.power))
-		new_mtx=torch.t(torch.stack(cols))
-		long_bias=self.bias.repeat([1,mtx.size()[1]])
-		return torch.matmul(self.weights,new_mtx)+long_bias
-
-def SGDTrain(self, kernel, data, ground, loss=torch.nn.MSELoss(), iterations=1000, learning_rate=.1, return_losses=False):
-	optim=torch.optim.SGD(kernel.parameters, lr=learning_rate)
-	data_cuda=data.to(device)
-	ground_cuda=ground.to(device)
-	if (return_losses):
-		losses=[]
-		for i in range(iterations):
-			with torch.set_grad_enabled(True):
-				optim.zero_grad()
-				pred=kernel.forward(data_cuda)
-				ls=loss(pred,ground_cuda)
-				losses.append(ls.item())
-				ls.backward()
-				optim.step()
-		return [kernel,losses]
-	else:
-		for i in range(iterations):
-			with torch.set_grad_enabled(True):
-				optim.zero_grad()
-				pred=kernel.forward(data_cuda)
-				ls=loss(pred,ground_cuda)
-				ls.backward()
-				optim.step()
-		return kernel
-
-def CustomTrain(self, kernel, optim, data, ground, loss=torch.nn.MSELoss(), iterations=1000, return_losses=False):
-	data_cuda=data.to(device)
-	ground_cuda=ground.to(device)
-	if (return_losses):
-		losses=[]
-		for i in range(iterations):
-			with torch.set_grad_enabled(True):
-				optim.zero_grad()
-				pred=kernel.forward(data)
-				ls=loss(pred,ground)
-				losses.append(ls.item())
-				ls.backward()
-				optim.step()
-		return [kernel,losses]
-	else:
-		for i in range(iterations):
-			with torch.set_grad_enabled(True):
-				optim.zero_grad()
-				pred=kernel.forward(data_cuda)
-				ls=loss(pred,ground_cuda)
-				ls.backward()
-				optim.step()
-		return kernel
diff --git a/analysis-master/tra_analysis/titanlearn.py b/analysis-master/tra_analysis/titanlearn.py
deleted file mode 100644
index 2d853922..00000000
--- a/analysis-master/tra_analysis/titanlearn.py
+++ /dev/null
@@ -1,122 +0,0 @@
-# Titan Robotics Team 2022: ML Module
-# Written by Arthur Lu & Jacob Levine
-# Notes:
-#    this should be imported as a python module using 'import titanlearn'
-#    this should be included in the local directory or environment variable
-#    this module is optimized for multhreaded computing
-#    this module learns from its mistakes far faster than 2022's captains
-# setup:
-
-__version__ = "1.1.1"
-
-#changelog should be viewed using print(analysis.__changelog__)
-__changelog__ = """changelog:
-	1.1.1:
-		- removed matplotlib import
-		- removed graphloss()
-	1.1.0:
-		- added net, dataset, dataloader, and stdtrain template definitions
-		- added graphloss function
-	1.0.1:
-		- added clear functions
-	1.0.0:
-		- complete rewrite planned
-		- depreciated 1.0.0.xxx versions
-		- added simple training loop
-	0.0.x:
-		-added generation of ANNS, basic SGD training
-"""
-
-__author__ = (
-	"Arthur Lu <arthurlu@ttic.edu>,"
-	"Jacob Levine <jlevine@ttic.edu>,"
-	)
-
-__all__ = [
-	'clear',
-	'net',
-	'dataset',
-	'dataloader',
-	'train',
-	'stdtrainer',
-	]
-
-import torch
-from os import system, name
-import numpy as np
-
-def clear(): 
-	if name == 'nt': 
-		_ = system('cls') 
-	else: 
-		_ = system('clear') 
-
-class net(torch.nn.Module): #template for standard neural net
-	def __init__(self):
-		super(Net, self).__init__()
-		
-	def forward(self, input):
-		pass
-
-class dataset(torch.utils.data.Dataset): #template for standard dataset
-	
-	def __init__(self):
-		super(torch.utils.data.Dataset).__init__()
-		
-	def __getitem__(self, index):
-		pass
-	
-	def __len__(self):
-		pass
-
-def dataloader(dataset, batch_size, num_workers, shuffle = True):
-
-	return torch.utils.data.DataLoader(dataset, batch_size=batch_size, shuffle=shuffle, num_workers=num_workers)
-
-def train(device, net, epochs, trainloader, optimizer, criterion): #expects standard dataloader, whch returns (inputs, labels)
-
-	dataset_len = trainloader.dataset.__len__()
-	iter_count = 0
-	running_loss = 0
-	running_loss_list = []
-
-	for epoch in range(epochs):  # loop over the dataset multiple times
-
-		for i, data in enumerate(trainloader, 0):
-
-			inputs = data[0].to(device)
-			labels = data[1].to(device)
-
-			optimizer.zero_grad()
-
-			outputs = net(inputs)
-			loss = criterion(outputs, labels.to(torch.float))
-			
-			loss.backward()
-			optimizer.step()
-
-			# monitoring steps below
-
-			iter_count += 1
-			running_loss += loss.item()
-			running_loss_list.append(running_loss)
-			clear()
-
-			print("training on: " + device)
-			print("iteration: " + str(i) + "/" + str(int(dataset_len / trainloader.batch_size)) + " | " + "epoch: " + str(epoch) + "/" + str(epochs))
-			print("current batch loss: " + str(loss.item))
-			print("running loss: " + str(running_loss / iter_count))
-		
-	return net, running_loss_list
-	print("finished training")
-
-def stdtrainer(net, criterion, optimizer, dataloader, epochs, batch_size):
-
-	device = torch.device("cuda:0" if torch.cuda.is_available() else "cpu")
-
-	net = net.to(device)
-	criterion = criterion.to(device)
-	optimizer = optimizer.to(device)
-	trainloader = dataloader
-	
-	return train(device, net, epochs, trainloader, optimizer, criterion)
\ No newline at end of file
diff --git a/analysis-master/tra_analysis/visualization.py b/analysis-master/tra_analysis/visualization.py
deleted file mode 100644
index 0c3d4f5a..00000000
--- a/analysis-master/tra_analysis/visualization.py
+++ /dev/null
@@ -1,58 +0,0 @@
-# Titan Robotics Team 2022: Visualization Module
-# Written by Arthur Lu & Jacob Levine
-# Notes:
-#    this should be imported as a python module using 'import visualization'
-#    this should be included in the local directory or environment variable
-#    fancy
-# setup:
-
-__version__ = "0.0.1"
-
-#changelog should be viewed using print(analysis.__changelog__)
-__changelog__ = """changelog:
-	0.0.1:
-		- added graphhistogram function as a fragment of visualize_pit.py
-	0.0.0:
-		- created visualization.py
-		- added graphloss()
-		- added imports
-"""
-
-__author__ = (
-	"Arthur Lu <arthurlu@ttic.edu>,"
-	"Jacob Levine <jlevine@ttic.edu>,"
-	)
-
-__all__ = [
-	'graphloss',
-	]
-
-import matplotlib.pyplot as plt
-import numpy as np
-
-def graphloss(losses):
-
-	x = range(0, len(losses))
-	plt.plot(x, losses)
-	plt.show()
-
-def graphhistogram(data, figsize, sharey = True): # expects library with key as variable and contents as occurances
-
-	fig, ax = plt.subplots(1, len(data), sharey=sharey, figsize=figsize)
-
-	i = 0
-
-	for variable in data:
-
-		ax[i].hist(data[variable])
-		ax[i].invert_xaxis()
-
-		ax[i].set_xlabel('Variable')
-		ax[i].set_ylabel('Frequency')
-		ax[i].set_title(variable)
-
-		plt.yticks(np.arange(len(data[variable])))
-
-		i+=1
-
-	plt.show()
\ No newline at end of file