javaclient.structures
Class Hypothesis

java.lang.Object
  extended by 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:
Author:
Maxim A. Batalin & Radu Bogdan Rusu

Constructor Summary
Hypothesis()
           
 
Method Summary
 int getAlpha()
           
 long[][] getCov()
           
 int[] getMean()
           
 void setAlpha(int newalpha)
           
 void setCov(long[][] newcov)
           
 void setMean(int[] newmean)
           
 
Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

Hypothesis

public Hypothesis()
Method Detail

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)