Examples with MonteCarloLocalization aima.core.robotics.MonteCarloLocalization used on opensource projects

Example 1 with MonteCarloLocalization

use of aima.core.robotics.MonteCarloLocalization in project aima-java by aimacode.

the class MonteCarloLocalizationApp method initialize.

/**
	 * Creates a {@link GenericMonteCarloLocalization2DApp} and stores it in {@code app}.<br/>
	 * In addition the corresponding {@link IRobotGui} is created and stored in {@code robotGui}. The function {@code robotGui.destructRobot()} will be called when the application window closes to allow closing any open connections gracefully.
	 */
protected void initialize() {
    SimpleSettingsListener settingsListener = new SimpleSettingsListener(settingsGui);
    settingsListener.createSettings();
    AnglePanel angles = new AnglePanel(RANGE_READING_ANGLES_TITLE);
    settingsGui.registerSpecialSetting(RANGE_READING_ANGLES_KEY, angles);
    MclCartesianPlot2D<SimplePose, SimpleMove, AbstractRangeReading> map = new MclCartesianPlot2D<SimplePose, SimpleMove, AbstractRangeReading>(new SVGGroupParser(), new SVGGroupParser(), new SimplePoseFactory(), new SimpleRangeReadingFactory());
    VirtualRobot robot = new VirtualRobot(map);
    robotGui = new VirtualRobotGui(robot);
    MonteCarloLocalization<SimplePose, Angle, SimpleMove, AbstractRangeReading> mcl = new MonteCarloLocalization<SimplePose, Angle, SimpleMove, AbstractRangeReading>(map, new JavaRandomizer());
    app = new GenericMonteCarloLocalization2DApp<SimplePose, SimpleMove, SimpleRangeReading>(mcl, map, robot, robotGui, settingsGui);
    angles.setChangeListener((ChangeListener) robotGui);
    settingsListener.setMap(map);
    settingsListener.setMcl(mcl);
    settingsListener.setRobot(robot);
}