uwcse.location.core
Class OccupancyGrid

java.lang.Object
  |
  +--uwcse.location.core.OccupancyGrid

public class OccupancyGrid

extends Object

An occupancy grid used by particle filters to find the number of discrete active grid cells in order to perform adaptive sampling.

Version:

$Revision: 1.3 $

Author:

Jeffrey Hightower

Constructor Summary

OccupancyGrid(Point3d lower, Point3d upper, double posResolution)           Create an occupancy grid for the given dimensions.

 

Method Summary
int	getNumberOfActiveCells()           Get the number of active cells in the grid.
int	getNumberOfCells()           Get the number of cells in the grid.
double	getPositionResolution()           Get the position resolution.
void	resetCounts()           Reset the count of the number of active cells.
void	update(Tuple3d pos)           Update the grid with the given State.

 

Methods inherited from class java.lang.Object

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

 

Constructor Detail

OccupancyGrid

public OccupancyGrid(Point3d lower,
                     Point3d upper,
                     double posResolution)

Create an occupancy grid for the given dimensions. The resolution values determine the grid cell size. For example, a horizontal resolution of 1 on a world map with 20x20 x,y dimensions results in 400 grid cells for these two dimensions (etc.).

Parameters:

lower - the map of the world

upper - the map of the world

posResolution - size of the x,y,z positional grid cells in meters

update

public void update(Tuple3d pos)

Update the grid with the given State.

resetCounts

public void resetCounts()

Reset the count of the number of active cells.

getNumberOfActiveCells

public int getNumberOfActiveCells()

Get the number of active cells in the grid.

getNumberOfCells

public int getNumberOfCells()

Get the number of cells in the grid.

getPositionResolution

public double getPositionResolution()

Get the position resolution.