Further tweaks to RANSAC algorithm and line of best fit

src/ShortTermMem.java

@@ -0,0 +1,59 @@
+import java.util.ArrayList;
+import Vector.Vector;
+public class ShortTermMem {
+    ArrayList<ArrayList<Vector>> scans = new ArrayList<>();
+    ArrayList<Vector> scanPositions = new ArrayList<>();
+
+    ArrayList<Long> scanTimes = new ArrayList<>();
+    private int size = 0;
+
+    public void addScan(Vector scanPosition, ArrayList<Vector> scan){
+        size += scan.size();
+        scans.add(scan);
+        scanPositions.add(scanPosition);
+        scanTimes.add(System.currentTimeMillis());
+        purgeScans();
+    }
+
+    public ArrayList<Vector> getPoints(){
+        ArrayList<Vector> points = new ArrayList<>();
+        for(ArrayList<Vector> pointList : this.scans){
+            points.addAll(pointList);
+        }
+        return points;
+    }
+
+    public void remove(Vector point){
+        for(ArrayList<Vector> pointList : this.scans){
+            int listSize = pointList.size();
+            pointList.remove(point);
+            if(listSize - pointList.size() != 0){
+                size--;
+                break;
+            }
+        }
+    }
+
+    private void purgeScans(){
+        long currentTime = System.currentTimeMillis();
+        int i = scanTimes.size();
+
+        // loop through the list backwards and remove all scans that are over second old
+        // we loop backwards to avoid removal conflicts
+        while(i > 0){
+            i--;
+            long dt = currentTime - scanTimes.get(i);
+            if(dt < 1000){
+                continue;
+            }
+            size -= scans.get(i).size();
+            scanTimes.remove(i);
+            scanPositions.remove(i);
+            scans.remove(i);
+        }
+    }
+
+    public int size(){
+        return this.size;
+    }
+}