org.placelab.particlefilter.beacon
Class BeaconAndGPSParticleFilter

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

public class BeaconAndGPSParticleFilter

extends BeaconParticleFilter

Spec for BeaconAndGPSParticleFilter

Nested Class Summary

Nested classes inherited from class org.placelab.particlefilter.beacon.BeaconParticleFilter

BeaconParticleFilter.TEST_PROBE

Field Summary

Fields inherited from class org.placelab.particlefilter.beacon.BeaconParticleFilter

GRID_INCREMENT, gridIncrement, mapper, MAX_X, MAX_Y, maxX, maxY

Fields inherited from class org.placelab.particlefilter.ParticleFilter

INVALID_INDEX, maxParticles, minParticles, PARTICLE_MAX, PARTICLE_MIN, particleList

Constructor Summary

BeaconAndGPSParticleFilter(Mapper m)

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

BeaconAndGPSParticleFilter(Mapper m, int particleMin, int particleMax)

Method Summary

protected SensorModel	createDefaultSensorModel()
protected java.util.Vector	createParticles(Observable o) Construct a new array of particles from either a beacon or GPS measurement.

Methods inherited from class org.placelab.particlefilter.beacon.BeaconParticleFilter

countSupport, createDefaultMotionModel, getEstimate, getThresholdedWeightedEstimate, 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

Constructor Detail

BeaconAndGPSParticleFilter

public BeaconAndGPSParticleFilter(Mapper m)

Parameters:

m -

BeaconAndGPSParticleFilter

public BeaconAndGPSParticleFilter(Mapper m,
                                  int particleMin,
                                  int particleMax)

BeaconAndGPSParticleFilter

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

Parameters:

m -

maxX -

maxY -

gridIncr -

Method Detail

createDefaultSensorModel

protected SensorModel createDefaultSensorModel()

Overrides:

createDefaultSensorModel in class BeaconParticleFilter

createParticles

protected java.util.Vector createParticles(Observable o)

Construct a new array of particles from either a beacon or GPS measurement.

Overrides:

createParticles in class BeaconParticleFilter