kldformula.java

一个基于PlaceLab的室内和室外的智能导航系统

package org.placelab.particlefilter;

/**
 * 
 *
 */
public class KLDFormula {
	private static final double DEFAULT_KLD_EPSILON = 0.2;
	private static final double DEFAULT_KLD_Z_QUANTILE=0.95;
	public  static final double DEFAULT=0.0;

	private double epsilon, z_quantile;

	public KLDFormula() {
		this(KLDFormula.DEFAULT_KLD_EPSILON, KLDFormula.DEFAULT_KLD_Z_QUANTILE);
	}
	public KLDFormula(double epsilon, double z_quantile) {
		this.epsilon = (epsilon==DEFAULT ? DEFAULT_KLD_EPSILON: epsilon);
		this.z_quantile = (z_quantile==DEFAULT ? DEFAULT_KLD_Z_QUANTILE : 
				   z_quantile);
	}
	
	public int compute(int occupiedGridSquares) {
		//do we need more?  p14, 
		double supportLessOne=occupiedGridSquares-1.0;
		double interiorTerm=(2.0/(9.0*supportLessOne));
		double firstTerm = supportLessOne/(2.0*epsilon);
		double lastTerm= Math.sqrt(interiorTerm)*z_quantile;
		double toBeRaised = 1.0 - interiorTerm + lastTerm;
		double total = firstTerm * 
			Math.pow(toBeRaised,3);
		return (int)total;
		
	}
	
	public class TEST_PROBE {
		// Yatin says: god knows what this does.  Ask Ian.
		/*public void setFormula(KLDFormula newKld) {
			KLDFormula.defaultKLD=newKld;
		}*/
	}
}