jtrackerguimote.java

该java代码给出了粒子滤波器的编程仿真,有一个仿真的界面

					for(int scount=0; scount<NumSens; scount++)
					{
						xmax = Math.max(xmax, SLoc[0][scount]);
						xmin = Math.min(xmin, SLoc[0][scount]);
						ymax = Math.max(ymax, SLoc[1][scount]);
						ymin = Math.min(ymin, SLoc[1][scount]);
					}


					numParts = Integer.parseInt(lp.Npart.getText());


					animating = true;
					paused = false;
					startThread();
				}
			}
		}

	}

private class LeftPanel extends JPanel
	{
		public JTextField Qin, Xin, SensError, Vel, MCIter, Timestep, Npart;
		public JTextField[] Sensors;
		public JComboBox DeltaT;
		public JButton startButton, clearButton;
		public JLabel Seperator;


		public LeftPanel()
		{
			Sensors = new JTextField[5];
			Sensors[0] = new JTextField("0, 8");
			Sensors[1] = new JTextField("-2, 0");
			Sensors[2] = new JTextField("10, 13");
			Sensors[3] = new JTextField("-7, -7");
			Sensors[4] = new JTextField("12, 0");
			Qin = new JTextField("0.01");
			Xin = new JTextField("15, 12");
			SensError = new JTextField("0.5");
			Vel = new JTextField("-1, -1");
			MCIter = new JTextField("2");
			Timestep = new JTextField("50");
			Npart = new JTextField("1000");
			DeltaT = new JComboBox();
			startButton = new JButton();
			clearButton = new JButton();
/*
			Qin.setToolTipText("Set the noise/interference from the sensor.");
			Xin.setToolTipText("Initial coordinates of the target in meters: x, y.");
			SensError.setToolTipText("Standard deviation of sensor error: range (m), range rate (m/s), angle (degrees).");
			Vel.setToolTipText("The target's horizontal velocity. (meters/sec)");
			Yvel.setToolTipText("The target's vertical velocity. (meters/sec)");
			Xsensor.setToolTipText("Horizontal position of the sensor location. (meters)");
			Ysensor.setToolTipText("Vertical position of the sensor location. (meters)");
			MCIter.setToolTipText("Numer of Monte Carlo iterations for the simulation.");
			Timestep.setToolTipText("Number of time increments per MC iteration");
			Npart.setToolTipText("Number of Monte Carlo samples");
			DeltaT.setToolTipText("Length of each increment (seconds)");
			startButton.setToolTipText("Click Button to start tracking simulation.");
			clearButton.setToolTipText("Click Button to reset to defaults.");
*/
			DeltaT.addItem("1 sec");
			DeltaT.addItem("2 sec");
			DeltaT.addItem("3 sec");
			DeltaT.addItem("4 sec");
			DeltaT.setBackground(new Color(10, 238, 99));
			DeltaT.setPreferredSize(new Dimension(50, 18));
			Seperator = new JLabel();

			Sensors[0].setPreferredSize(new Dimension(105,20));
			Sensors[1].setPreferredSize(new Dimension(105,20));
			Sensors[2].setPreferredSize(new Dimension(105,20));
			Sensors[3].setPreferredSize(new Dimension(105,20));
			Sensors[4].setPreferredSize(new Dimension(105,20));
			Xin.setPreferredSize(new Dimension(105, 22));
			SensError.setPreferredSize(new Dimension(105, 22));
			Vel.setPreferredSize(new Dimension(105, 22));
			MCIter.setPreferredSize(new Dimension(105, 18));
			Seperator.setPreferredSize(new Dimension(105, 40));
			Qin.setPreferredSize(new Dimension(105, 18));
			Timestep.setPreferredSize(new Dimension(105, 18));
			Npart.setPreferredSize(new Dimension(105, 18));
			DeltaT.setPreferredSize(new Dimension(105, 18));
			startButton.setPreferredSize(new Dimension(100,55));


			Xin.addActionListener(new XinListener());
			SensError.addActionListener(new SensErrorListener());
			Vel.addActionListener(new VelListener());

			Sensors[0].addActionListener(new Sensor1Listener());
			Sensors[1].addActionListener(new Sensor2Listener());
			Sensors[2].addActionListener(new Sensor3Listener());
			Sensors[3].addActionListener(new Sensor4Listener());
			Sensors[4].addActionListener(new Sensor5Listener());


			Sensors[0].addMouseListener(new Sensmouse());
			Sensors[1].addMouseListener(new Sensmouse());
			Sensors[2].addMouseListener(new Sensmouse());
			Sensors[3].addMouseListener(new Sensmouse());
			Sensors[4].addMouseListener(new Sensmouse());
			Xin.addMouseListener(new Xinmouse());
			SensError.addMouseListener(new SensErrormouse());
			Vel.addMouseListener(new Velmouse());
			MCIter.addMouseListener(new MCmouse());
			Qin.addMouseListener(new Qinmouse());
			Timestep.addMouseListener(new Timemouse());
			Npart.addMouseListener(new Npartmouse());
			DeltaT.addMouseListener(new Deltamouse());


			Icon starticon = new ImageIcon( getClass().getResource("startbutton.JPG"));
			startButton.setIcon(starticon);

	//		startButton = new JButton("Start");
			clearButton = new JButton("Reset");
			startButton.addActionListener(new startListener());
			clearButton.addActionListener(new clearListener());

			startButton.addMouseListener(new starmouse());
			clearButton.addMouseListener(new clearmouse());

			setLayout(new FlowLayout(FlowLayout.CENTER, 5, 5));
			add(Xin, 0);
			add(SensError, 1);
			add(Vel, 2);
			add(Sensors[0], 3);
			add(Sensors[1], 4);
			add(Sensors[2], 5);
			add(Sensors[3], 6);
			add(Sensors[4], 7);
			add(MCIter, 8);
			add(Qin, 9);
			add(Npart, 10);
			add(Timestep, 11);
			add(DeltaT, 12);
			add(startButton, 13);
			add(clearButton, 14);
		}
	}

	private class Sensmouse implements MouseListener
	{

			public void mousePressed(MouseEvent e) {}
			public void mouseReleased(MouseEvent e) {}
			public void mouseClicked(MouseEvent e) {}
			public void mouseEntered(MouseEvent e)
			{
				helpinfo.setText("Position of the sensor location: x, y. (meters)");
			}
			public void mouseExited(MouseEvent e) {}

	}


	private class Xinmouse implements MouseListener
	{

			public void mousePressed(MouseEvent e) {}
			public void mouseReleased(MouseEvent e) {}
			public void mouseClicked(MouseEvent e) {}
			public void mouseEntered(MouseEvent e)
			{
				helpinfo.setText("Initial coordinates of the target in meters: x, y");
			}
			public void mouseExited(MouseEvent e) {}

	}
	private class SensErrormouse implements MouseListener
	{

			public void mousePressed(MouseEvent e) {}
			public void mouseReleased(MouseEvent e) {}
			public void mouseClicked(MouseEvent e) {}
			public void mouseEntered(MouseEvent e)
			{
				helpinfo.setText("Variance of sensor error.");
			}
			public void mouseExited(MouseEvent e) {}

	}

	private class Velmouse implements MouseListener
	{

			public void mousePressed(MouseEvent e) {}
			public void mouseReleased(MouseEvent e) {}
			public void mouseClicked(MouseEvent e) {}
			public void mouseEntered(MouseEvent e)
			{
				helpinfo.setText("The target's initial velocity: x,y. (meters/sec)");
			}
			public void mouseExited(MouseEvent e) {}

	}

	private class MCmouse implements MouseListener
	{

			public void mousePressed(MouseEvent e) {}
			public void mouseReleased(MouseEvent e) {}
			public void mouseClicked(MouseEvent e) {}
			public void mouseEntered(MouseEvent e)
			{
				helpinfo.setText("Numer of Monte Carlo iterations for the simulation.");
			}
			public void mouseExited(MouseEvent e) {}

	}
	private class Timemouse implements MouseListener
	{

			public void mousePressed(MouseEvent e) {}
			public void mouseReleased(MouseEvent e) {}
			public void mouseClicked(MouseEvent e) {}
			public void mouseEntered(MouseEvent e)
			{
				helpinfo.setText("Number of time increments per MC iteration");
			}
			public void mouseExited(MouseEvent e) {}

	}
	private class Deltamouse implements MouseListener
	{

			public void mousePressed(MouseEvent e) {}
			public void mouseReleased(MouseEvent e) {}
			public void mouseClicked(MouseEvent e) {}
			public void mouseEntered(MouseEvent e)
			{
				helpinfo.setText("Length of each increment (seconds)");
			}
			public void mouseExited(MouseEvent e) {}

	}
	private class Npartmouse implements MouseListener
	{

			public void mousePressed(MouseEvent e) {}
			public void mouseReleased(MouseEvent e) {}
			public void mouseClicked(MouseEvent e) {}
			public void mouseEntered(MouseEvent e)
			{
				helpinfo.setText("Number of Monte Carlo samples");
			}
			public void mouseExited(MouseEvent e) {}

	}
	private class Qinmouse implements MouseListener
	{

			public void mousePressed(MouseEvent e) {}
			public void mouseReleased(MouseEvent e) {}
			public void mouseClicked(MouseEvent e) {}
			public void mouseEntered(MouseEvent e)
			{
				helpinfo.setText("Set the noise/interference from the sensor.");
			}
			public void mouseExited(MouseEvent e) {}

	}
	private class starmouse implements MouseListener
	{

			public void mousePressed(MouseEvent e) {}
			public void mouseReleased(MouseEvent e) {}
			public void mouseClicked(MouseEvent e) {}
			public void mouseEntered(MouseEvent e)
			{
				helpinfo.setText("Click Button to Start Tracking Simulation");
			}
			public void mouseExited(MouseEvent e) {}

	}
	private class clearmouse implements MouseListener
	{

			public void mousePressed(MouseEvent e) {}
			public void mouseReleased(MouseEvent e) {}
			public void mouseClicked(MouseEvent e) {}
			public void mouseEntered(MouseEvent e)
			{
				helpinfo.setText("Click Button to Reset to Defaults.");
			}
			public void mouseExited(MouseEvent e) {}

	}
	private class startListener implements ActionListener
	{

		private String tryString;
		public void actionPerformed (ActionEvent event)
		{
			animator = null;
			paused = false;
			frame = 0;

			//-------------------------------------------
			//Get number of Monte Carlo runs
			//-------------------------------------------
			tryString = lp.MCIter.getText();
			success = false;
			while(!success)
			{
				try
				{
					niter = Integer.parseInt(tryString);
				}
				catch (NumberFormatException exception)
				{
					dialogInput = JOptionPane.showInputDialog(null,"Please reenter the number of iterations.","Invalid MC iterations",JOptionPane.ERROR_MESSAGE, null, null, tryString);
					try{tryString = dialogInput.toString();}
					catch(NullPointerException e){}
					continue;
				}
				success=true;
			}
			lp.MCIter.setText(Integer.toString(niter));

			MC = niter;

			//-------------------------------------------
			//Get initial velocity
			//-------------------------------------------
			tokenizer = new StringTokenizer(lp.Vel.getText(),"(), ", false);

			token = (tokenizer.hasMoreTokens()) ? tokenizer.nextToken() : "x velocity";

			success = false;
			while(!success)
			{
				try
				{
					xin=Double.parseDouble(token);
				}
				catch (NumberFormatException exception)
				{
					dialogInput = JOptionPane.showInputDialog(null,"Please reenter initial x velocity.","Invalid x velocity",JOptionPane.ERROR_MESSAGE, null, null, token);
					try{token = dialogInput.toString();}
					catch(NullPointerException e){}
					continue;
				}
				success=true;
			}

			token = (tokenizer.hasMoreTokens()) ? tokenizer.nextToken() : "y velocity";

			success = false;
			while(!success)
			{
				try
				{
					yin=Double.parseDouble(token);
				}
				catch (NumberFormatException exception)
				{
					dialogInput = JOptionPane.showInputDialog(null,"Please reenter initial y velocity.","Invalid y velocity",JOptionPane.ERROR_MESSAGE, null, null, token);
					try{token = dialogInput.toString();}
					catch(NullPointerException e){}
					continue;
				}
				success=true;
			}
			xvelocity = xin;
			yvelocity = yin;
			lp.Vel.setText(Double.toString(xin)+", "+Double.toString(yin));


			//-------------------------------------------
			//Get Q value
			//-------------------------------------------
			tryString = lp.Qin.getText();
			success = false;
			while(!success)
			{
				try
				{
					Qval = Double.parseDouble(tryString);
				}
				catch (NumberFormatException exception)
				{
					dialogInput = JOptionPane.showInputDialog(null,"Please reenter Q (noise intensity).","Invalid Q value",JOptionPane.ERROR_MESSAGE, null, null, tryString);
					try{tryString = dialogInput.toString();}
					catch(NullPointerException e){}
					continue;
				}
				success=true;
			}
			lp.Qin.setText(Double.toString(Qval));



			//----------------------------------------------------
			//Get Sensor 1 position
			//----------------------------------------------------
			tokenizer = new StringTokenizer(lp.Sensors[0].getText(),"(), ", false);

			token = (tokenizer.hasMoreTokens()) ? tokenizer.nextToken() : "x position";

			success = false;
			while(!success)
			{
				try
				{
					xin=Double.parseDouble(token);
				}
				catch (NumberFormatException exception)
				{
					dialogInput = JOptionPane.showInputDialog(null,"Please reenter Sensor 1 x position.","Invalid x position",JOptionPane.ERROR_MESSAGE, null, null, token);
					try{token = dialogInput.toString();}
					catch(NullPointerException e){}
					continue;
				}
				success=true;
			}

			token = (tokenizer.hasMoreTokens()) ? tokenizer.nextToken() : "y position";

			success = false;
			while(!success)