From 7dc679371a30b867180adcf78226c7040862f6d5 Mon Sep 17 00:00:00 2001
From: Quinn <henth013@d.umn.edu>
Date: Tue, 21 Nov 2023 21:30:21 -0500
Subject: [PATCH] Creating scan graph.

---
 src/Graph/PointVertex.java   |  1 +
 src/Processing.java          |  6 +-----
 src/ScanGraph/PointScan.java | 40 ++++++++++++++++++++++++++++++++++++
 3 files changed, 42 insertions(+), 5 deletions(-)
 create mode 100644 src/ScanGraph/PointScan.java

diff --git a/src/Graph/PointVertex.java b/src/Graph/PointVertex.java
index 1d849a9..98f4e6a 100644
--- a/src/Graph/PointVertex.java
+++ b/src/Graph/PointVertex.java
@@ -4,6 +4,7 @@ import processing.core.PApplet;
 
 public class PointVertex extends Vertex {
     private Vector position;
+
     private int[] color = new int[]{127, 255, 0, 0};
 
     /**
diff --git a/src/Processing.java b/src/Processing.java
index 139721c..15be76e 100644
--- a/src/Processing.java
+++ b/src/Processing.java
@@ -23,7 +23,7 @@ public class Processing extends PApplet {
         processing = this;
         car = new Car(processing, 100,100,50,40);
         size(1000, 1000);
-        car.addView(360,360);
+        car.addView(90,180);
 
 //        for(int i = 0; i < 10; i++){
 //            PointVertex vStart = new PointVertex(random(50, 950), random(50, 950));
@@ -40,7 +40,6 @@ public class Processing extends PApplet {
         car.drawCar(map, SLAMIsHidden);
         strokeWeight(2);
         stroke(255);
-        //car.drive(new int[] {0, 0});
     }
 
     public void keyPressed(){
@@ -127,7 +126,4 @@ public class Processing extends PApplet {
         PointVertex v = new PointVertex(clickPosition);
         map.addVertex(v);
     }
-
-
-
 }
\ No newline at end of file
diff --git a/src/ScanGraph/PointScan.java b/src/ScanGraph/PointScan.java
new file mode 100644
index 0000000..423b46c
--- /dev/null
+++ b/src/ScanGraph/PointScan.java
@@ -0,0 +1,40 @@
+package ScanGraph;
+
+import Graph.PointGraph;
+import Graph.Vertex;
+import Vector.Vector;
+import processing.core.PApplet;
+
+import java.util.ArrayList;
+
+public class PointScan extends Vertex{
+
+    private Vector position;
+    private ArrayList<Vector> scan;
+
+    PointScan(Vector scanPosition, ArrayList<Vector> scan){
+        super();
+        this.position = scanPosition;
+        this.scan = scan;
+    }
+
+    /**
+     * @param x the new x position of the vertex
+     * @param y the new y posiiton of the vertex
+     */
+    public void setPos(float x, float y){
+        this.position = new Vector(x, y);
+    }
+
+    /**
+     * @return a two eleement float array containing the x and y coordinates of the vertex respectively.
+     */
+    public Vector getPos(){
+        return position;
+    }
+
+    public ArrayList<Vector> getScan(){
+        return this.scan;
+    }
+
+}