Merge lp:~oontvoo/kalmanfilterimpl/point_comparable into lp:kalmanfilterimpl

[Vy Nguyen]

Make Point comparable to ensure the input Points are sorted in time order

=== modified file 'src/kalmanfilter/RunFilter.java'
--- src/kalmanfilter/RunFilter.java	2012-06-27 01:47:04 +0000
+++ src/kalmanfilter/RunFilter.java	2012-06-28 00:23:18 +0000
@@ -23,6 +23,7 @@
 import Jama.Matrix;
 import java.util.ArrayList;
 import java.util.Arrays;
+import java.util.Collections;
 import java.util.List;
 
 /**
@@ -31,7 +32,7 @@
  */
 public class RunFilter 
 {
-    public static class Point
+    public static class Point implements Comparable<Point>
     {
         final double x; // x coord
         final double y; // y coord
@@ -42,10 +43,18 @@
             this.y = y;
             this.t = t;
         }
+        @Override
+        public int compareTo(Point o)
+        {
+            return Double.compare(t, o.t);
+        }
     }
     
     public static List<Point> filter(List<Point> inputs, double sensorNoise)
     {
+        // sort the points in time order
+        Collections.sort(inputs);
+
         List<Point> output = new ArrayList<>(inputs.size());
         
         //(Matrix X, Matrix P, Matrix Q, Matrix H, Matrix A, Matrix R)