javaslam.slam
Class ExampleModel.MotionModel

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

All Implemented Interfaces:

ExtendedVectorFunction, NoisyVectorFunction, VectorFunction

Enclosing class:

ExampleModel

public class ExampleModel.MotionModel

extends Object

implements NoisyVectorFunction, ExtendedVectorFunction

The motion model of the robot. The control specifies a desired translational and rotational velocity.

Field Summary

protected static int	HEADING
protected static int	INPUT_DIM The input dimension of the motion model.
protected static int	OUTPUT_DIM The output dimension of the motion model.
protected static int	RVEL
protected static int	RVEL_ABS_NOISE
protected static int	RVEL_REL_NOISE
protected double	rVelCtrl The current rotational velocity control (in radians per second).
protected static int	TVEL
protected static int	TVEL_ABS_NOISE
protected static int	TVEL_REL_NOISE
protected double	tVelCtrl The current translational velocity control (in meters per second).
protected static int	XPOS
protected static int	YPOS

Constructor Summary

ExampleModel.MotionModel(double[] c)
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 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

tVelCtrl

protected double tVelCtrl

The current translational velocity control (in meters per second).

rVelCtrl

protected double rVelCtrl

The current rotational velocity control (in radians per second).

INPUT_DIM

protected static final int INPUT_DIM

The input dimension of the motion model.

See Also:

Constant Field Values

OUTPUT_DIM

protected static final int OUTPUT_DIM

The output dimension of the motion model.

See Also:

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

TVEL_REL_NOISE

protected static final int TVEL_REL_NOISE

See Also:

Constant Field Values

TVEL_ABS_NOISE

protected static final int TVEL_ABS_NOISE

See Also:

Constant Field Values

RVEL_REL_NOISE

protected static final int RVEL_REL_NOISE

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Constant Field Values

RVEL_ABS_NOISE

protected static final int RVEL_ABS_NOISE

See Also:

Constant Field Values

Constructor Detail

ExampleModel.MotionModel

public ExampleModel.MotionModel(double[] c)

Constructor.

Parameters:

c - the control signal; c[0] is the translational velocity (in meters/second) and c[1] is the rotational velocity (in radians/second)

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