fn sonar_discrimination(&self, map: &Map) -> usize {
        let (_sector, most_candidates) = self.sector_most_candidates(&map);
        cmp::min(
            most_candidates,
            self.ncandidates() - most_candidates
        )
    }
// cond: position is tracked
// ret = lower bound on pos_candidates to be discarded
position is tracked
ret = lower bound on pos_candidates to be discarded
position is tracked ret = lower bound on pos_candidates to be discarded
fn sonar_discrimination(&self, map: &Map) -> usize {
        let (_sector, most_candidates) = self.sector_most_candidates(&map);
        cmp::min(
            most_candidates,
            self.ncandidates() - most_candidates
        )
    }
fn sonar_discrimination ( & self , map : & Map ) -> usize { let ( _sector , most_candidates ) = self . sector_most_candidates ( & map ) ; cmp :: min ( most_candidates , self . ncandidates ( ) - most_candidates ) }
cond: position is tracked
ret = lower bound on pos_candidates to be discarded
cond : position is tracked ret = lower bound on pos_candidates to be discarded
&self
map
&Map
&self
map
&Map