package config;

import lejos.geom.Line;
import lejos.robotics.mapping.LineMap;
import lejos.robotics.navigation.Pose;

public class Models {
	private LineMap map;

	public Models(LineMap map) {
		this.map = map;
	}

	public double expectedSonarRead(Pose p, double angle) {
		Pose tmppose = (30, 25, 120);
		float mindist = Float.POSITIVE_INFINITY;
		for (int angulo=-cone/2; angulo <= cone/2; angulo++) {
		tmppose.setHeading(mypose.getHeading() - angulo);
		float dist = mymap.range(tmpPose);
		if (dist > 0 && dist < mindist) mindist = dist;
		} 
		return 0;
	}
}