EDU.gatech.cc.is.clay
Class v_Localizer_rv
java.lang.Object
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+--EDU.gatech.cc.is.clay.Node
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+--EDU.gatech.cc.is.clay.NodeVec2
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+--EDU.gatech.cc.is.clay.v_Localizer_rv
- public class v_Localizer_rv
- extends NodeVec2
This determines the robots location, given an abstract_robot and a visible
landmark as
input. This node is triggered on sighting a landmark and will
determine the global position of the robot given the egocentric
distance to the landmark.
Constructor Summary |
v_Localizer_rv(EDU.cmu.cs.coral.localize.LineLocalizationRobot ar)
Instantiate a v_Localizer_rv node |
Methods inherited from class EDU.gatech.cc.is.clay.Node |
initTrial |
Methods inherited from class java.lang.Object |
clone,
equals,
finalize,
getClass,
hashCode,
notify,
notifyAll,
toString,
wait,
wait,
wait |
DEBUG
public static final boolean DEBUG
last_val
public Vec2 last_val
lasttime
public long lasttime
robot
protected EDU.cmu.cs.coral.localize.LocalizationRobot robot
landmarks
protected SimulatedObject[] landmarks
ambigLandmarks
protected boolean[] ambigLandmarks
doneAmbigUpdate
protected boolean doneAmbigUpdate
numAmbigLM
protected int numAmbigLM
ambigLMIndex
protected int[] ambigLMIndex
landmarkAreas
protected EDU.cmu.cs.coral.localize.DoubleRectangle[] landmarkAreas
samplesX
protected double[] samplesX
samplesY
protected double[] samplesY
samplesT
protected double[] samplesT
samplesW
protected double[] samplesW
ambigClosest
protected int[] ambigClosest
newSamplesX
protected double[] newSamplesX
newSamplesY
protected double[] newSamplesY
newSamplesT
protected double[] newSamplesT
samplesAreNormalized
protected boolean samplesAreNormalized
samples
protected EDU.cmu.cs.coral.localize.SampleSet samples
numCorrectVisionClass
protected int numCorrectVisionClass
samplesPos
protected Vec2[] samplesPos
samplesMag
protected Vec2[] samplesMag
samplesColor
protected java.awt.Color[] samplesColor
landmarkSampler
protected static EDU.cmu.cs.coral.localize.LandmarkSampler landmarkSampler
lineSampler
protected EDU.cmu.cs.coral.localize.LineLandmarkSampler lineSampler
numSamples
protected int numSamples
us
protected EDU.cmu.cs.coral.localize.UniformSampler us
ur
protected EDU.cmu.cs.coral.localize.UniformRandom ur
getPosCount
protected int getPosCount
errorOutFile
protected java.io.FileWriter errorOutFile
epochCounter
protected int epochCounter
moveUpdateCnt
protected long moveUpdateCnt
sensorUpdateCnt
protected long sensorUpdateCnt
lmUpdater
protected EDU.cmu.cs.coral.localize.LandmarkSampleUpdater lmUpdater
moveUpdater
protected EDU.cmu.cs.coral.localize.MovementSampleUpdater moveUpdater
lineUpdater
protected EDU.cmu.cs.coral.localize.LineSampleUpdater lineUpdater
numSensorVars
protected int numSensorVars
numMoveVars
protected int numMoveVars
allTheLines
protected LineSim[] allTheLines
useLines
protected int useLines
logFile
protected java.io.FileWriter logFile
intGen
protected java.util.Random intGen
v_Localizer_rv
public v_Localizer_rv(EDU.cmu.cs.coral.localize.LineLocalizationRobot ar)
- Instantiate a v_Localizer_rv node
- Parameters:
ar
- SimpleInterface, the abstract_robot object
Value
public Vec2 Value(long timestamp)
- Returns a Vec2 representing the robots belief of where it is
- Overrides:
- Value in class NodeVec2
- Parameters:
timestamp
- long, only get new info if timestamp > than last
call of timestamp == -1.- Returns:
- the robots estimate of its position
updatePositionSensor
protected int updatePositionSensor()
updateAmbig
protected void updateAmbig(int lm)
Vec2Dot
protected double Vec2Dot(Vec2 a,
Vec2 b)
updatePositionLines
protected void updatePositionLines(long timestamp)
getLine
protected LineSim getLine(int i)
getPosition
protected EDU.cmu.cs.coral.localize.Sample getPosition()
updatePositionMovement
protected void updatePositionMovement()
resetPosition
protected void resetPosition()
normalizeSamples
public double normalizeSamples()
onLandmark
protected int onLandmark(EDU.cmu.cs.coral.localize.Sample s)
getLandmarkLocation
protected Vec2 getLandmarkLocation(int lm)
getLandmarkRadius
protected double getLandmarkRadius(int lm)