private (Vector2, float)[] getMeasurements(Map m, Robot r)
        {
            List<Vector2> rays = new List<Vector2>
            {
                Vector2.Normalize(new Vector2(1, 0)),
                Vector2.Normalize(new Vector2(0, 1)),
                Vector2.Normalize(new Vector2(-1, 0)),
                Vector2.Normalize(new Vector2(0, -1))
            };

            (Vector2, float)[] tuple = new(Vector2, float)[rayCount];



            for (int i = 0; i < rayCount; i++)
            {
                int random = (int)RNG.nextFloatPositive(rays.Count + 1);
                tuple[i] = (rays[random], r.getMeasurement(rays[random], m));
            }

            return tuple;
        }