javaslam.slam
Class ExampleModel.LandmarkMeasurementModel

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

All Implemented Interfaces:

ExtendedVectorFunction, NoisyVectorFunction, VectorFunction

Enclosing class:

ExampleModel

public class ExampleModel.LandmarkMeasurementModel

extends Object

implements NoisyVectorFunction, ExtendedVectorFunction

The landmark measurement model of the robot. The robot receives noisy measurements of the bearing and range to landmarks.

Field Summary

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 landmark measurement model.
protected static int	LM_XPOS
protected static int	LM_YPOS
protected static int	OUTPUT_DIM The output dimension of the landmark measurement model.
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.LandmarkMeasurementModel()

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 motion 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 landmark measurement model.

See Also:

Constant Field Values

OUTPUT_DIM

protected static final int OUTPUT_DIM

The output dimension of the landmark measurement model.

See Also:

Constant Field Values

XPOS

protected static final int XPOS

See Also:

Constant Field Values

YPOS

protected static final int YPOS

See Also:

Constant Field Values

HEADING

protected static final int HEADING

See Also:

Constant Field Values

TVEL

protected static final int TVEL

See Also:

Constant Field Values

RVEL

protected static final int RVEL

See Also:

Constant Field Values

LM_XPOS

protected static final int LM_XPOS

See Also:

Constant Field Values

LM_YPOS

protected static final int LM_YPOS

See Also:

Constant Field Values

RANGE_REL_NOISE

protected static final int RANGE_REL_NOISE

See Also:

Constant Field Values

RANGE_ABS_NOISE

protected static final int RANGE_ABS_NOISE

See Also:

Constant Field Values

BEARING_NOISE

protected static final int BEARING_NOISE

See Also:

Constant Field Values

DEL_X

protected static final int DEL_X

See Also:

Constant Field Values

DEL_Y

protected static final int DEL_Y

See Also:

Constant Field Values

Constructor Detail

ExampleModel.LandmarkMeasurementModel

public ExampleModel.LandmarkMeasurementModel()

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 motion model.

Specified by:

getNoiseModel in interface NoisyVectorFunction

Returns:

the Gaussian distribution over the noise input