javaslam.slam
Class ExampleModel.InverseMeasurementModel

java.lang.Object
  |
  +--javaslam.slam.ExampleModel.InverseMeasurementModel

All Implemented Interfaces:

ExtendedVectorFunction, NoisyVectorFunction, VectorFunction

Enclosing class:

ExampleModel

public class ExampleModel.InverseMeasurementModel

extends Object

implements NoisyVectorFunction, ExtendedVectorFunction

The inverse landmark measurement model of the robot.

Field Summary

protected double	bearing The noisy bearing measurement.
protected static int	BEARING_NOISE
protected static int	DEL_X
protected static int	DEL_Y
protected static int	HEADING
protected static int	INPUT_DIM The input dimension of the model.
protected static int	LM_XPOS
protected static int	LM_YPOS
protected static int	OUTPUT_DIM The output dimension of the model.
protected double	range The noisy range measurement.
protected static int	RANGE_ABS_NOISE
protected static int	RANGE_REL_NOISE
protected static int	RVEL
protected static int	TVEL
protected static int	XPOS
protected static int	YPOS

Constructor Summary

ExampleModel.InverseMeasurementModel(double[] z)
Constructor.

Method Summary

double[]	evaluate(double[] input) Evaluates this function at the supplied input.
int	getInputDim() Returns the input dimension of this function.
Gaussian	getNoiseModel() Returns the distribution over the noise variables for this model.
int	getOutputDim() Returns the output dimension of this function.
double[][]	jacobian(double[] input) Evaluates the Jacobian of this function at the supplied input.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

INPUT_DIM

protected static final int INPUT_DIM

The input dimension of the model.

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Constant Field Values

OUTPUT_DIM

protected static final int OUTPUT_DIM

The output dimension of the model.

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Constant Field Values

XPOS

protected static final int XPOS

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Constant Field Values

YPOS

protected static final int YPOS

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Constant Field Values

HEADING

protected static final int HEADING

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Constant Field Values

TVEL

protected static final int TVEL

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Constant Field Values

RVEL

protected static final int RVEL

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Constant Field Values

RANGE_REL_NOISE

protected static final int RANGE_REL_NOISE

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Constant Field Values

RANGE_ABS_NOISE

protected static final int RANGE_ABS_NOISE

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Constant Field Values

BEARING_NOISE

protected static final int BEARING_NOISE

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Constant Field Values

LM_XPOS

protected static final int LM_XPOS

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Constant Field Values

LM_YPOS

protected static final int LM_YPOS

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Constant Field Values

DEL_X

protected static final int DEL_X

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Constant Field Values

DEL_Y

protected static final int DEL_Y

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Constant Field Values

range

protected double range

The noisy range measurement.

bearing

protected double bearing

The noisy bearing measurement.

Constructor Detail

ExampleModel.InverseMeasurementModel

public ExampleModel.InverseMeasurementModel(double[] z)

Constructor.

Parameters:

z - the measurement, represented as a displacement vector in the robot's cartesian coordinate frame; z[0] is the frontal distance to the landmark, and z[0] is the lateral distance to the landmark

Method Detail

getInputDim

public int getInputDim()

Returns the input dimension of this function.

Specified by:

getInputDim in interface VectorFunction

getOutputDim

public int getOutputDim()

Returns the output dimension of this function.

Specified by:

getOutputDim in interface VectorFunction

evaluate

public double[] evaluate(double[] input)

Evaluates this function at the supplied input.

Specified by:

evaluate in interface VectorFunction

Parameters:

input - a vector with getInputDim() elements

Returns:

a vector with getOutputDim() elements

jacobian

public double[][] jacobian(double[] input)

Evaluates the Jacobian of this function at the supplied input.

Specified by:

jacobian in interface ExtendedVectorFunction

Parameters:

input - a vector with getInputDim() elements

Returns:

a matrix with getOutputDim() rows and getInputDim() columns; if y = f(x) then element (i, j) is the partial derivative of y_i with respect to x_j at input

getNoiseModel

public Gaussian getNoiseModel()

Returns the distribution over the noise variables for this model.

Specified by:

getNoiseModel in interface NoisyVectorFunction

Returns:

the Gaussian distribution over the noise input