code: private void fuseEstimates() {
  
  		// weighted average for angle
  		double x = closeMotionKeyToCurr.c * closeInlierCount + Math.cos(farAngle) * farInlierCount;
  		double y = closeMotionKeyToCurr.s * closeInlierCount + Math.sin(farAngle) * farInlierCount;
  
  		// update the motion estimate
  		closeMotionKeyToCurr.setYaw(Math.atan2(y, x));
  
  		// save the results
  		closeMotionKeyToCurr.invert(currToKey);
  	}
docs: Fuse the estimates for yaw from both sets of points using a weighted vector average and save the results
  into currToKey