Re: Mapping Thanks for the tip on reflection error.  I'll have to build in a function to weight the position accordingly.  I'm trying to stay away from occupency grids and use the native vectors to conserve memory while maintaining accuracy.  I may have to resort to a if I can't find addiquate memory compression routines. --  James Dunn jdunn@unm.edu Chat# 14708321 Like a rose, life is sweet, with just enough thorns to make it interesting.       _,--._.-,      /\\_r-,\\_ )    .-.) _;='_/ (.;     \\ \\'     \\/S )      L.'-. _.'|-'      <_`-'\\'_.'/       *-._( \\       ___   \\\\,     ___       \\ .'-. \\\\ .-'_. /        '._' '.\\\\/.-'_.'           '--``\\('--'                 \\\\                 `\\\\,                   \\|