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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 |
public void motion(NoisyVectorFunction f)
f
- the stochastic motion modelpublic void odometry(NoisyVectorFunction g, double[] y)
g
- the noisy odometry measurement modely
- the odometry measurementpublic void measurement(NoisyVectorFunction h, NoisyVectorFunction hInv, int id, double[] z)
h
- the stochastic landmark measurement modelhInv
- the inverse of h with respect to the landmark stateid
- the identifier of the landmark that was observedz
- the landmark measurement
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