public boolean match() {
for (Iterator<Hit> iter = hits.iterator(); iter.hasNext(); ) {
Hit h = iter.next();
if (robot.getTime() - h.time > 20) {
iter.remove();
}
}
double avgBearing = 0;
for (Hit h : hits) {
avgBearing += h.heading;
}
avgBearing /= hits.size();
// todo (zhidkov): fix name
double maxHz = 0;
for (Hit h : hits) {
if (abs(h.heading - avgBearing) > maxHz) {
maxHz = abs(h.heading - avgBearing);
}
}
return abs(avgBearing - maxHz) < LXXConstants.RADIANS_45 && hits.size() > 1;
}
