public void init() {
        info = new Vector();
        try {
            String fileName = ClassLoader.getSystemClassLoader().getResource("log/").getPath();
            fileName += "sonar2.txt";
            BufferedReader in = new BufferedReader(new FileReader(fileName));
            while (in.ready()) {
                SlideInfo si = new SlideInfo();
                for (int i = 0; i < 7; ++i) {
                    String line = in.readLine();
                    StringTokenizer str = new StringTokenizer(line, " ");
                    if (str.countTokens() != 6) {
                        throw new Exception("File Read errors: Not enough tokens " + line);
                    }
                    
                    double x = Double.parseDouble(str.nextToken());
                    double y = Double.parseDouble(str.nextToken());
                    double bearing = Double.parseDouble(str.nextToken());
                    double goalBearing = Double.parseDouble(str.nextToken());
                    int wall = Integer.parseInt(str.nextToken());
                    double distance = Double.parseDouble(str.nextToken());
                    if (i == 0) {
                        si.x = x;
                        si.y = y;
                        si.wall = wall;
                        si.bearing = bearing;
                        si.goalBearing = goalBearing;
                    }
                    si.sensor[i] = distance;
                }
                info.addElement(si);
            }
        } catch (Exception e) {
            System.out.println("Error " + e.getMessage());
            System.exit(0);
        }
        viewer = new Viewer();
    }