javaslam.slam
Interface NonlinearSLAMFilter

All Superinterfaces:
SLAMFilter
All Known Implementing Classes:
LinearizedSLAMFilter

public interface NonlinearSLAMFilter
extends SLAMFilter

An interface implemented by classes that implement nonlinear filters for the Simultaneous Localization and Mapping (SLAM) problem.


Method Summary
 void measurement(NoisyVectorFunction h, NoisyVectorFunction hInv, int id, double[] z)
          Performs a landmark measurement update assuming a known data association.
 void motion(NoisyVectorFunction f)
          Performs a motion update.
 void odometry(NoisyVectorFunction g, double[] y)
          Performs an odometry update.
 
Methods inherited from interface javaslam.slam.SLAMFilter
addLandmark, contains, getLandmarkEstimate, getLandmarkId, getLandmarkIds, getLandmarkVariable, getNumLandmarks, getRobotEstimate, getRobotVariable
 

Method Detail

motion

public void motion(NoisyVectorFunction f)
Performs a motion update.

Parameters:
f - the stochastic motion model

odometry

public void odometry(NoisyVectorFunction g,
                     double[] y)
Performs an odometry update.

Parameters:
g - the noisy odometry measurement model
y - the odometry measurement

measurement

public void measurement(NoisyVectorFunction h,
                        NoisyVectorFunction hInv,
                        int id,
                        double[] z)
Performs a landmark measurement update assuming a known data association.

Parameters:
h - the stochastic landmark measurement model
hInv - the inverse of h with respect to the landmark state
id - the identifier of the landmark that was observed
z - the landmark measurement