positionwithmotionparticle.java

一个基于PlaceLab的室内和室外的智能导航系统

/*
 * Created on Jun 18, 2004
 *
 */
package org.placelab.particlefilter.beacon;

import org.placelab.core.TwoDCoordinate;
import org.placelab.particlefilter.Particle;

public class PositionWithMotionParticle extends PositionParticle {
	private double theta;
	private double velocity;
	private double lastWeight;
//	private double acceleration = 0.0;
//	private double turnRate = 0.0;
	public int state = -1; // generic variable to models to tinker with
	public double dstate = 10.0; // generic variable to models to tinker with
	public double dstate2 = 0;
	public double dstate3 = 0.0;
	
	public double chanceOfTransition = 1.0;
	public long timeSinceLastTransition = 0;

	public PositionWithMotionParticle(TwoDCoordinate c, double th, double vel) {
		super(c);
		theta = th;
		velocity = vel;
		lastWeight = -1.0;
	}
	
	public PositionWithMotionParticle(PositionWithMotionParticle p) {
		super(p);
		
		theta = p.theta;
		velocity = p.velocity;
		state = p.state;
		dstate = p.dstate;
		dstate2 = p.dstate2;
		dstate3 = p.dstate3;
//		dstate =  p.dstate + NumUtil.rand.nextGaussian()*p.dstate/50;
//		if (dstate < 0) {
//			dstate = 0;
//		}
	//	System.out.println(p.dstate + " -> " + dstate);
		chanceOfTransition = p.chanceOfTransition;
		timeSinceLastTransition = p.timeSinceLastTransition;
		lastWeight = p.getWeight();
	}
	
	
	public Particle createClone() {
		return new PositionWithMotionParticle(this);
	}
	
	public double getLastWeight() {
		return lastWeight;
	}
	
	/**
	 * @return Returns the theta.
	 */
	public double getDirection() {
		return theta;
	}
	/**
	 * @param theta The angle to set.
	 */
	public void setDirection(double theta) {
		this.theta = theta;
	}
	/**
	 * @param acceleration The acceleration for the rest of the time period.
	 */
//	public void setAcceleration(double acceleration) {
//		this.acceleration = acceleration;
//	}
//	
//	public double getAcceleration() {
//		return acceleration;
//	}
//	public void setTurnRate(double turnRate) {
//		this.turnRate = turnRate;
//	}
//	
//	public double getTurnRate() {
//		return turnRate;
//	}
	/**
	 * @return Returns the velocity.
	 */
	public double getVelocity() {
		return velocity;
	}
	/**
	 * @param velocity The velocity to set.
	 */
	public void setVelocity(double velocity) {
		this.velocity = velocity;
	}
}