code: private boolean estimateClose() {
  
  		// estimate 2D motion
  		if (!planeMotion.process(planeSamples.toList()))
  			return false;
  
  		// save solutions
  		closeMotionKeyToCurr = planeMotion.getModelParameters();
  		closeInlierCount = planeMotion.getMatchSet().size();
  
  		// mark inliers as used
  		for (int i = 0; i < closeInlierCount; i++) {
  			int index = planeMotion.getInputIndex(i);
  			VoTrack p = tracksOnPlane.get(index).getCookie();
  			p.lastInlier = tick;
  		}
  
  		return true;
  	}
docs: Estimates the full (x,y,yaw) 2D motion estimate from ground points.
  
  @return true if successful or false if not