org.placelab.particlefilter
Class ParticleFilter

java.lang.Object
  org.placelab.particlefilter.ParticleFilter

Direct Known Subclasses:

KLDParticleFilter

public abstract class ParticleFilter

extends java.lang.Object

Nested Class Summary

class

ParticleFilter.TEST_PROBE

Field Summary

static int	INVALID_INDEX
protected int	maxParticles
protected int	minParticles
protected static int	PARTICLE_MAX
protected static int	PARTICLE_MIN
java.util.Vector	particleList

Constructor Summary

ParticleFilter()

ParticleFilter(int minParticles, int maxParticles)

Method Summary

protected void	applyMotionModel(long elapsedTimeMillis)
protected void	applyMotionModel(java.util.Vector particles, long elapsedTimeMillis)
protected CDF	applySensorModel(Observable obs)
protected MotionModel	createDefaultMotionModel()
protected SensorModel	createDefaultSensorModel()
protected abstract java.util.Vector	createParticles(Observable o)
protected void	gatherSameNumberOfSamples(Observable obs)
long	getLastUpdatedTime()
MotionModel	getMotionModel()
int	getParticleCount()
java.util.Vector	getParticleList()
SensorModel	getSensorModel()
protected void	initializeParticleList(java.util.Vector particles)
void	reset()
protected void	runSingleTimeStep(long elapsedTimeMillis, Observable obs)
protected abstract java.util.Vector	runSingleTimeStepImpl(long elapsedTimeMillis, Observable obs)
void	setMotionModel(MotionModel model)
void	setSensorModel(SensorModel model)
void	updateFilter(Observable o)
void	updateWithoutObservation(long elapsedMillis)

Methods inherited from class java.lang.Object

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

Field Detail

minParticles

protected int minParticles

maxParticles

protected int maxParticles

particleList

public java.util.Vector particleList

INVALID_INDEX

public static final int INVALID_INDEX

See Also:

Constant Field Values

PARTICLE_MIN

protected static final int PARTICLE_MIN

See Also:

Constant Field Values

PARTICLE_MAX

protected static final int PARTICLE_MAX

See Also:

Constant Field Values

Constructor Detail

ParticleFilter

public ParticleFilter()

ParticleFilter

public ParticleFilter(int minParticles,
                      int maxParticles)

Method Detail

reset

public void reset()

createDefaultSensorModel

protected SensorModel createDefaultSensorModel()

createDefaultMotionModel

protected MotionModel createDefaultMotionModel()

setSensorModel

public void setSensorModel(SensorModel model)

setMotionModel

public void setMotionModel(MotionModel model)

getSensorModel

public SensorModel getSensorModel()

getMotionModel

public MotionModel getMotionModel()

getParticleList

public java.util.Vector getParticleList()

initializeParticleList

protected void initializeParticleList(java.util.Vector particles)

getParticleCount

public int getParticleCount()

applySensorModel

protected CDF applySensorModel(Observable obs)

applyMotionModel

protected void applyMotionModel(long elapsedTimeMillis)

applyMotionModel

protected void applyMotionModel(java.util.Vector particles,
                                long elapsedTimeMillis)

gatherSameNumberOfSamples

protected void gatherSameNumberOfSamples(Observable obs)

runSingleTimeStep

protected void runSingleTimeStep(long elapsedTimeMillis,
                                 Observable obs)

getLastUpdatedTime

public long getLastUpdatedTime()

updateFilter

public void updateFilter(Observable o)

updateWithoutObservation

public void updateWithoutObservation(long elapsedMillis)

createParticles

protected abstract java.util.Vector createParticles(Observable o)

runSingleTimeStepImpl

protected abstract java.util.Vector runSingleTimeStepImpl(long elapsedTimeMillis,
                                                          Observable obs)