need advise for coding

i need some advise to begin coding of vector field histogram.
but i really don't understand how to create certainty value because i'm not perfect at english. but i understood others. just didn't understand certainty grid of representing environmental. if someone know about this please help for giving some description.
here is described about vector field histogram
http://www-personal.umich.edu/~johannb/vff&vfh.htm
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Please don't post the same question on several forums next time...
http://www.cplusplus.com/forum/general/8754/
sorry about i copied wrong quistion but now i changed real one
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