lejos.robotics.localization
Class MCLPoseProvider

java.lang.Object
  extended by 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