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