Permitindo angulos negativos

HistogramFilter/src/config/Models.java

@@ -63,7 +63,6 @@ public class Models {
 		
 		double dtrans = move;
 		
-		
 		double dx = pa.getX()-pb.getX();
 		double dy = pa.getY()-pb.getY();
 		
@@ -71,9 +70,9 @@ public class Models {
 		double dctrans = Math.sqrt(dx*dx+dy*dy);
 		double dcrot2 = n(pah - dcrot1);
 		
-		double p1 = probTriangularDistribution(n(pah-pbh-drot1), ALPHA2*dtrans+ALPHA1*drot1);
-		double p2 = probTriangularDistribution(dtrans-dctrans, ALPHA3*dtrans+ALPHA4*drot1);
-		double p3 = probTriangularDistribution(dcrot2, ALPHA2*dtrans);
+		double p1 = probTriangularDistribution(Math.abs(n(pah-pbh-drot1)), ALPHA2*dtrans+Math.abs(ALPHA1*drot1)); //SOME
+		double p2 = probTriangularDistribution(Math.abs(dtrans)-Math.abs(dctrans), Math.abs(ALPHA3*dtrans)+Math.abs(ALPHA4*drot1)+Math.abs(ALPHA4*dcrot2));
+		double p3 = probTriangularDistribution(dcrot2, ALPHA2*dtrans+Math.abs(ALPHA1*dcrot2));
 		if (dtrans == 0) p3 = 1;
 		return p1*p2*p3;
 	}