javaslam.slam
Class ExampleModel.OdometryModel

java.lang.Object
  |
  +--javaslam.slam.ExampleModel.OdometryModel
All Implemented Interfaces:
ExtendedVectorFunction, NoisyVectorFunction, VectorFunction
Enclosing class:
ExampleModel

public class ExampleModel.OdometryModel
extends Object
implements NoisyVectorFunction, ExtendedVectorFunction

The odometry model of the robot. The robot receives noisy measurements of its translational and rotational velocity.


Field Summary
protected static int HEADING
           
protected static int INPUT_DIM
          The input dimension of the odometry model.
protected static int ODO_RVEL
           
protected static int ODO_TVEL
           
protected static int OUTPUT_DIM
          The output dimension of the odometry model.
protected static int RVEL
           
protected static int RVEL_ABS_NOISE
           
protected static int RVEL_REL_NOISE
           
protected static int TVEL
           
protected static int TVEL_ABS_NOISE
           
protected static int TVEL_REL_NOISE
           
protected static int XPOS
           
protected static int YPOS
           
 
Constructor Summary
ExampleModel.OdometryModel()
           
 
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 odometry model.

See Also:
Constant Field Values

OUTPUT_DIM

protected static final int OUTPUT_DIM
The output dimension of the odometry 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

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
See Also:
Constant Field Values

RVEL_ABS_NOISE

protected static final int RVEL_ABS_NOISE
See Also:
Constant Field Values

ODO_TVEL

protected static final int ODO_TVEL
See Also:
Constant Field Values

ODO_RVEL

protected static final int ODO_RVEL
See Also:
Constant Field Values
Constructor Detail

ExampleModel.OdometryModel

public ExampleModel.OdometryModel()
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 yi with respect to xj 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