|
|||||||||
PREV CLASS NEXT CLASS | FRAMES NO FRAMES | ||||||||
SUMMARY: NESTED | FIELD | CONSTR | METHOD | DETAIL: FIELD | CONSTR | METHOD |
java.lang.Object lejos.localization.Particle
public class Particle
Represents a particle for the particle filtering algorithm. The state of the particle is the pose, which represents a possible pose of the robot. The weight for a particle is set by taking a set of theoretical range readings using a map of the environment, and comparing these ranges with those taken by the robot. The weight represents the relative probability that the robot has this pose. Weights are from 0 to 1.
Field Summary | |
---|---|
static Random |
rand
|
Constructor Summary | |
---|---|
Particle(Pose pose)
Create a particle with a specific pose |
Method Summary | |
---|---|
void |
applyMove(Move move)
Apply the robot's move to the particle with a bit of random noise |
void |
calculateWeight(RangeReadings rr,
Map map)
Calculate the weight for this particle by comparing its readings with the robot's readings |
Pose |
getPose()
Return the pose of this particle |
float |
getReading(int i)
Get a specific reading |
float |
getWeight()
Return the weight of this particle |
void |
setWeight(float weight)
Set the weight for this particle |
void |
takeReadings(Map map)
Calculate the theoretical readings |
Methods inherited from class java.lang.Object |
---|
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
Field Detail |
---|
public static Random rand
Constructor Detail |
---|
public Particle(Pose pose)
pose
- the poseMethod Detail |
---|
public void setWeight(float weight)
weight
- the weight of this particlepublic float getWeight()
public Pose getPose()
public void calculateWeight(RangeReadings rr, Map map)
rr
- Robot readingspublic void takeReadings(Map map)
map
- the map of the environmentpublic float getReading(int i)
i
- the index of the reading
public void applyMove(Move move)
move
- the robot's move
|
|||||||||
PREV CLASS NEXT CLASS | FRAMES NO FRAMES | ||||||||
SUMMARY: NESTED | FIELD | CONSTR | METHOD | DETAIL: FIELD | CONSTR | METHOD |