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

Returns:
the motion model

getOdometryModel

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

Returns:
the odometry model

getMeasurementModel

public NoisyVectorFunction getMeasurementModel()
Returns the landmark observation model zti = h(xt, lj, u). In other words, this returns the function that computes the observation zti the robot would receive of landmark j given its state is xt, the state of the landmark is lj, 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 zti = z) with respect to the landmark state: lj = h-1 z(xt, u). In other words, this returns the function that, given the state of the robot xt and the observation noise u, computes the state of a landmark that yielded the observation z.

Parameters:
z - the landmark measurement