Examples with AbstractRangeReading aima.core.robotics.impl.datatypes.AbstractRangeReading used on opensource projects

Example 1 with AbstractRangeReading

use of aima.core.robotics.impl.datatypes.AbstractRangeReading 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);
}

Example 2 with AbstractRangeReading

use of aima.core.robotics.impl.datatypes.AbstractRangeReading in project aima-java by aimacode.

the class SimpleRangeReading method calculateWeight.

@Override
public double calculateWeight(AbstractRangeReading secondRange) {
    final AbstractRangeReading firstRange = addRangeNoise();
    if (firstRange.getValue() < 0 || secondRange.getValue() < 0)
        return 0;
    if (Double.isInfinite(firstRange.getValue()) && Double.isInfinite(secondRange.getValue()))
        return 1;
    final double firstRangeValue;
    if (Double.isInfinite(firstRange.getValue()) || firstRange.getValue() > SENSOR_RANGE)
        firstRangeValue = SENSOR_RANGE;
    else
        firstRangeValue = firstRange.getValue();
    final double secondRangeValue;
    if (Double.isInfinite(secondRange.getValue()) || secondRange.getValue() > SENSOR_RANGE)
        secondRangeValue = SENSOR_RANGE;
    else
        secondRangeValue = secondRange.getValue();
    final double delta = Math.abs(firstRangeValue - secondRangeValue);
    if (delta > BAD_DELTA)
        return 0.0f;
    return (float) (1.0d - delta / BAD_DELTA);
}