javaclient.structures
Class Hypothesis
java.lang.Object
javaclient.structures.Hypothesis
public class Hypothesis
- extends java.lang.Object
Hypothesis format.
Since the robot pose may be ambiguous (i.e., the robot may at any of a number of widely
spaced locations), the localize interface is capable of returning more that one hypothesis.
(see the player_localize_hypoth structure from player.h)
- Version:
- v1.6.3 - Player 1.6.3 (all interfaces) supported
- v1.6.2 - Player 1.6.2 supported, Javadoc documentation, several bugfixes
- v1.5a - Player 1.5 supported (most popular devices)
- Author:
- Maxim A. Batalin & Radu Bogdan Rusu
Methods inherited from class java.lang.Object |
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
Hypothesis
public Hypothesis()
getMean
public int[] getMean()
- Returns:
- the mean value of the pose estimate (mm, mm, arc-seconds)
setMean
public void setMean(int[] newmean)
- Parameters:
newmean
- the mean value of the pose estimate (mm, mm, arc-seconds)
getCov
public long[][] getCov()
- Returns:
- the covariance matrix pose estimate (mm$^2$, arc-seconds$^2$)
setCov
public void setCov(long[][] newcov)
- Parameters:
newcov
- the covariance matrix pose estimate (mm$^2$, arc-seconds$^2$)
getAlpha
public int getAlpha()
- Returns:
- the weight coefficient for linear combination (alpha * 1e6)
setAlpha
public void setAlpha(int newalpha)
- Parameters:
newalpha
- the weight coefficient for linear combination (alpha * 1e6)