hybridmotionmodel.java

一个基于PlaceLab的室内和室外的智能导航系统

package org.placelab.particlefilter.beacon;

import org.placelab.particlefilter.MotionModel;
import org.placelab.particlefilter.Particle;

public class HybridMotionModel implements MotionModel {

	protected MotionModel dm;
	protected CentroidMotionModel cm;
	
	public static long centroidMoves = 0;
	public static long defaultMoves = 0;
	
	public static int USE_CENTROID = 1;
	public static int USE_DEFAULT = 0;
	
	public HybridMotionModel() {
		this(new DefaultMotionModel());
	}
	
	public HybridMotionModel(MotionModel defaultMotionModel) {
		dm = defaultMotionModel;
		cm = new CentroidMotionModel();
	}
	
	public void move(Particle p, long elapsedMillis) {
		PositionWithMotionParticle particle = (PositionWithMotionParticle) p;
		if (particle.state == USE_CENTROID) {
//			System.out.println("Doing centroid motion");
			cm.move(p,elapsedMillis);
			centroidMoves++;
		} else {
//			System.out.println("Doing default motion");
			dm.move(p,elapsedMillis);
			defaultMoves++;
		}

	}

}