org.placelab.particlefilter.beacon
Class BeaconParticleFilter

java.lang.Object
  org.placelab.particlefilter.ParticleFilter
      org.placelab.particlefilter.KLDParticleFilter
          org.placelab.particlefilter.beacon.BeaconParticleFilter

Direct Known Subclasses:

BeaconAndGPSParticleFilter

public class BeaconParticleFilter

extends KLDParticleFilter

Nested Class Summary

class

BeaconParticleFilter.TEST_PROBE

Field Summary

static double	GRID_INCREMENT
protected double	gridIncrement
protected Mapper	mapper
static double	MAX_X
static double	MAX_Y
protected double	maxX
protected double	maxY

Fields inherited from class org.placelab.particlefilter.ParticleFilter

INVALID_INDEX, maxParticles, minParticles, PARTICLE_MAX, PARTICLE_MIN, particleList

Constructor Summary

BeaconParticleFilter(Mapper m)

BeaconParticleFilter(Mapper m, double maxX, double maxY, double gridIncr)

BeaconParticleFilter(Mapper m, double maxX, double maxY, double gridIncr, int minParticles, int maxParticles)

BeaconParticleFilter(Mapper m, int minParticles, int maxParticles)

Method Summary

protected int	countSupport(double gridSize, java.util.Vector particles)
protected MotionModel	createDefaultMotionModel()
protected SensorModel	createDefaultSensorModel()
protected java.util.Vector	createParticles(Observable o)
ParticleTwoDEstimate	getEstimate()
TwoDPositionEstimate	getThresholdedWeightedEstimate()
TwoDPositionEstimate	getWeightedEstimate()

Methods inherited from class org.placelab.particlefilter.KLDParticleFilter

getKLD, reset, runSingleTimeStepImpl, setKLD

Methods inherited from class org.placelab.particlefilter.ParticleFilter

applyMotionModel, applyMotionModel, applySensorModel, gatherSameNumberOfSamples, getLastUpdatedTime, getMotionModel, getParticleCount, getParticleList, getSensorModel, initializeParticleList, runSingleTimeStep, setMotionModel, setSensorModel, updateFilter, updateWithoutObservation

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

mapper

protected Mapper mapper

maxX

protected double maxX

maxY

protected double maxY

gridIncrement

protected double gridIncrement

MAX_X

public static final double MAX_X

See Also:

Constant Field Values

MAX_Y

public static final double MAX_Y

See Also:

Constant Field Values

GRID_INCREMENT

public static final double GRID_INCREMENT

See Also:

Constant Field Values

Constructor Detail

BeaconParticleFilter

public BeaconParticleFilter(Mapper m)

BeaconParticleFilter

public BeaconParticleFilter(Mapper m,
                            int minParticles,
                            int maxParticles)

BeaconParticleFilter

public BeaconParticleFilter(Mapper m,
                            double maxX,
                            double maxY,
                            double gridIncr)

BeaconParticleFilter

public BeaconParticleFilter(Mapper m,
                            double maxX,
                            double maxY,
                            double gridIncr,
                            int minParticles,
                            int maxParticles)

Method Detail

createDefaultSensorModel

protected SensorModel createDefaultSensorModel()

Overrides:

createDefaultSensorModel in class ParticleFilter

createDefaultMotionModel

protected MotionModel createDefaultMotionModel()

Overrides:

createDefaultMotionModel in class ParticleFilter

createParticles

protected java.util.Vector createParticles(Observable o)

Specified by:

createParticles in class KLDParticleFilter

countSupport

protected int countSupport(double gridSize,
                           java.util.Vector particles)

Specified by:

countSupport in class KLDParticleFilter

getEstimate

public ParticleTwoDEstimate getEstimate()

getWeightedEstimate

public TwoDPositionEstimate getWeightedEstimate()

getThresholdedWeightedEstimate

public TwoDPositionEstimate getThresholdedWeightedEstimate()