lejos.robotics.localization
Class MCLPoseProvider

java.lang.Object
  lejos.robotics.localization.MCLPoseProvider

All Implemented Interfaces:

PoseProvider, MoveListener

public class MCLPoseProvider
extends Object
implements PoseProvider, MoveListener

Constructor Summary

MCLPoseProvider(MovementProvider mp, RangeScanner scanner, RangeMap map, int numParticles, int border)

Method Summary

MCLParticleSet	getParticles()
Pose	getPose()
void	movementStarted(Movement event, MovementProvider mp) Called when a Movement Provider starts a move
void	movementStopped(Movement event, MovementProvider mp) Called by the movementr provider when a move stops

Methods inherited from class java.lang.Object

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

Constructor Detail

MCLPoseProvider

public MCLPoseProvider(MovementProvider mp,
                       RangeScanner scanner,
                       RangeMap map,
                       int numParticles,
                       int border)

Method Detail

getParticles

public MCLParticleSet getParticles()

movementStarted

public void movementStarted(Movement event,
                            MovementProvider mp)

Description copied from interface: MoveListener

Called when a Movement Provider starts a move

Specified by:

movementStarted in interface MoveListener

Parameters:

event - the movement

mp - the movement provider

movementStopped

public void movementStopped(Movement event,
                            MovementProvider mp)

Description copied from interface: MoveListener

Called by the movementr provider when a move stops

Specified by:

movementStopped in interface MoveListener

Parameters:

event - the movement

mp - movement provider

getPose

public Pose getPose()

Specified by:

getPose in interface PoseProvider