Cynopolis/SLAM-Sim
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Working on debugging line of best fit code.

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This commit is contained in:
Quinn
2023-04-06 11:34:02 -05:00
parent a06415f371
commit f12e336229
3 changed files with 80 additions and 25 deletions
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6
src/SLAM.java
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@@ -47,7 +47,7 @@ public class SLAM{
*/
private void extractFeature(ArrayList<Vector> originalList, List<Vector> randomSample, float maxRange, int consensus){
// get a line of best fit for this list.
Line bestFit = new Line(proc, randomSample);
Line bestFit = new Line(randomSample);
int count = 0;
ArrayList<Vector> newRandomSample = new ArrayList<>();
for (Vector v : randomSample) {
@@ -58,7 +58,7 @@ public class SLAM{
}
// if the count is above the consensus, add the line to our list and remove the points that gave the consensus.
if (count >= consensus) {
bestFit = new Line(proc, newRandomSample.subList(0, newRandomSample.size() - 1));
bestFit = new Line(newRandomSample.subList(0, newRandomSample.size() - 1));
lines.add(bestFit);
// remove the associated readings from the total available readings.
for (Vector v : newRandomSample) {
@@ -101,7 +101,7 @@ public class SLAM{
public void drawLines(){
for(Line line : lines){
line.draw();
line.draw(proc);
}
}