def correct(self, reobservedLandmarks, newLandmarks):
        for landmark in reobservedLandmarks:

            location = Point(self.stateVector[0], self.stateVector[1])
            rotation = self.stateVector[2]

            storedLandmark = Point(self.stateVector[(landmark.id*2)+3], self.stateVector[(landmark.id*2)+4])

            predictedDist = location.euclideanDistance(storedLandmark)
            predictedAngle = math.atan2(storedLandmark.y - location.y, storedLandmark.x - location.x) - math.radians(rotation % 360)

            h = Point(predictedDist, predictedAngle)
            z = Point(landmark.dist, math.radians(landmark.angle))

            errorR = np.array([[predictedDist*0.01, 0],[0, 1]])
            identityV = np.identity(2)

            jacobianH = np.zeros([2, 5])
            jacobianH[1][2] = -1

            jacobianH[0][0] = location.x - storedLandmark.x / errorR[0][0]
            jacobianH[0][1] = location.y - storedLandmark.y
            jacobianH[1][0] = storedLandmark.y - location.y
            jacobianH[1][1] = storedLandmark.x - location.x / errorR[1][1]

            jacobianH[0][3] = -jacobianH[0][0]
            jacobianH[0][4] = -jacobianH[0][1]
            jacobianH[1][3] = -jacobianH[1][0]
            jacobianH[1][4] = -jacobianH[1][1]