javaslam.slam
Interface Model

All Known Implementing Classes:

ExampleModel

public interface Model

Represents a SLAM model.

Method Summary

NoisyVectorFunction	getInverseMeasurementModel(double[] z) Returns the inverse of the landmark observation model (at zti = z) with respect to the landmark state: lj = h-1 z(xt, u).
int	getLandmarkDim() Returns the dimension of each landmark's state.
NoisyVectorFunction	getMeasurementModel() Returns the landmark observation model zti = h(xt, lj, u).
NoisyVectorFunction	getMotionModel(double[] c) Returns the motion model xt + 1 = f(xt, w).
NoisyVectorFunction	getOdometryModel() Returns the odometry model yt = g(xt, v).
int	getRobotDim() Returns the dimension of the robot's state.

Method Detail

getRobotDim

public int getRobotDim()

Returns the dimension of the robot's state.

Returns:

the dimension of the robot's state

getLandmarkDim

public int getLandmarkDim()

Returns the dimension of each landmark's state.

Returns:

the dimension of each landmark's state.

getMotionModel

public NoisyVectorFunction getMotionModel(double[] c)

Returns the motion model x_{t + 1} = f(x_t, w). In other words, this returns the function that computes the state x_t the robot would be in given its state is x_t, it applied the control c, and the motion noise was w.

Returns:

the motion model

getOdometryModel

public NoisyVectorFunction getOdometryModel()

Returns the odometry model y_t = g(x_t, v). In other words, this returns the function that computes the odometry measurement y_t the robot would receive given its state is x_t and the observation noise is v.

Returns:

the odometry model

getMeasurementModel

public NoisyVectorFunction getMeasurementModel()

Returns the landmark observation model z_tⁱ = h(x_t, l_j, u). In other words, this returns the function that computes the observation z_tⁱ the robot would receive of landmark j given its state is x_t, the state of the landmark is l_j, and the observation noise was u.

Returns:

the landmark observation model

getInverseMeasurementModel

public NoisyVectorFunction getInverseMeasurementModel(double[] z)

Returns the inverse of the landmark observation model (at z_tⁱ = z) with respect to the landmark state: l_j = h^-1 _z(x_t, u). In other words, this returns the function that, given the state of the robot x_t and the observation noise u, computes the state of a landmark that yielded the observation z.

Parameters:

z - the landmark measurement