Porting over Ray-Tracing-2 to Intellij. Fixed processing core reference issues. still need to fix other issues though.

src/SLAM.java

@@ -0,0 +1,69 @@
+import processing.core.*;
+
+import java.util.ArrayList;
+
+public class SLAM{
+    ArrayList<PVector> points = new ArrayList<PVector>();
+
+    SLAM(){
+    }
+
+    public void addPoints(ArrayList<PVector> newPoints){
+        Line line = new Line(newPoints);
+    }
+
+}
+
+class Line{
+    PVector direction = new PVector(0,0);
+    PVector position = new PVector(0,0);
+
+    Line(){}
+    Line(PVector direction, PVector position){
+        this.direction = direction;
+        this.position = position;
+    }
+
+    /**
+     * @brief attempt to find the line of best fit for the given points
+     * @param points the points to get the line of best for
+     */
+    Line(ArrayList<PVector> points){
+        bestFit(points);
+    }
+
+    // least squares line of best fit algorithm
+    private void bestFit(ArrayList<PVector> points){
+        // get the mean of all the points
+        PVector mean = new PVector();
+        for(PVector point : points){
+            mean.add(point);
+        }
+        mean.div(points.size())
+
+        // this section calculates the direction vector of the line of best fit
+        PVector direction = new PVector();
+        // get the rise and run of the line of best fit
+        for(PVector point : points){
+            direction.y += (point.x - mean.x)*(point.y - mean.y); // rise
+            direction.x += pow((point.x - mean.x),2);
+        }
+
+        this.position = mean;
+        this.direction = direciton;
+    }
+
+    public PVector getSlopeIntForm(){
+        float slope = direction.y / direction.x;
+        float intercept = position.y - slope * position.x;
+        return new PVector(slope, intercept);
+    }
+
+    public PVector getDirection(){
+        return direction;
+    }
+
+    public PVector getPosition(){
+        return position;
+    }
+}