aima.core.robotics

Interface IMclMap<P extends IMclPose<P,V,M>,V extends IMclVector,M extends IMclMove<M>,R extends IMclRangeReading<R,V>>

Type Parameters:

P - a pose implementing IMclPose.

V - an n-1-dimensional vector implementing IMclVector, where n is the dimensionality of the environment.

M - a movement (or sequence of movements) of the robot, implementing IMclMove.

R - a range measurement, implementing IMclRangeReading.

All Known Implementing Classes:

MclCartesianPlot2D

public interface IMclMap<P extends IMclPose<P,V,M>,V extends IMclVector,M extends IMclMove<M>,R extends IMclRangeReading<R,V>>

This interface defines functionality for a map of an environment for a robot (agent) to perform Monte-Carlo-Localization in.

Author:

Arno von Borries, Jan Phillip Kretzschmar, Andreas Walscheid

Method Summary

Modifier and Type	Method and Description
boolean	isPoseValid(P pose) Verifies whether a pose is valid, that is inside the map boundaries and not within an obstacle.
P	randomPose() Generates a random valid pose on the map.
R	rayCast(P pose) Calculates the length of a ray in a direction defined by a pose.

Method Detail

randomPose

P randomPose()

Generates a random valid pose on the map.

Returns:

a random valid pose on the map.

rayCast

R rayCast(P pose)

Calculates the length of a ray in a direction defined by a pose.

Parameters:

pose - the pose from which the ray is to be cast.

Returns:

the length of the ray as a range reading.

isPoseValid

boolean isPoseValid(P pose)

Verifies whether a pose is valid, that is inside the map boundaries and not within an obstacle.

Parameters:

pose - the pose which is to be evaluated.

Returns:

true if the pose is valid.