public static Observation vectorToObservation(Vector2D v, bool isOccupied, Vector2D rbotPos, double rbotAngle, int unitLength, int certainty)
{
v.rotate(rbotAngle - 90);
v.translate(rbotPos);
v.scale(1.0 / unitLength);
return new Observation((int)v.getX(), (int)v.getY(), isOccupied, certainty);
}
public void translate(Vector2D v)
{
x = x + v.getX();
y = y + v.getY();
}