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
.public interface IMclMap<P extends IMclPose<P,V,M>,V extends IMclVector,M extends IMclMove<M>,R extends IMclRangeReading<R,V>>
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.
|
P randomPose()
R rayCast(P pose)
pose
- the pose from which the ray is to be cast.boolean isPoseValid(P pose)
pose
- the pose which is to be evaluated.