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Added Java support.

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This commit is contained in:
Simon D. Levy
2014-10-26 17:46:47 -04:00
parent 721f75e2af
commit 08ab4a55bb
36 changed files with 630 additions and 311 deletions
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16
java/edu/wlu/cs/levy/breezyslam/algorithms/DeterministicSLAM.java
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@@ -1,8 +1,24 @@
/**
* DeterministicSLAM implements SinglePositionSLAM using by returning the starting position instead of searching
* on it; i.e., using odometry alone.
*
* Copyright (C) 2014 Simon D. Levy
*
* This code is free software: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as
* published by the Free Software Foundation, either version 3 of the
* License, or (at your option) any later version.
*
* This code is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with this code. If not, see <http://www.gnu.org/licenses/>.
*/
package edu.wlu.cs.levy.breezyslam.algorithms;
import edu.wlu.cs.levy.breezyslam.components.Position;

17
java/edu/wlu/cs/levy/breezyslam/algorithms/Makefile
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@@ -1,3 +1,20 @@
# Makefile for BreezySLAM algorithms in Java
#
# Copyright (C) 2014 Simon D. Levy
#
# This code is free software: you can redistribute it and/or modify
# it under the terms of the GNU Lesser General Public License as
# published by the Free Software Foundation, either version 3 of the
# License, or (at your option) any later version.
#
# This code is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
# You should have received a copy of the GNU Lesser General Public License
# along with this code. If not, see <http://www.gnu.org/licenses/>.
BASEDIR = ../../../../../../..
JAVADIR = $(BASEDIR)/java
CDIR = $(BASEDIR)/c

17
java/edu/wlu/cs/levy/breezyslam/algorithms/RMHCSLAM.java
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@@ -1,5 +1,20 @@
/**
* RMHCSLAM implements SinglePositionSLAM using random-mutation hill-climbing search on the starting position.
* RMHCSLAM implements SinglePositionSLAM using random-mutation hill-climbing search on the starting position.
*
* Copyright (C) 2014 Simon D. Levy
*
* This code is free software: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as
* published by the Free Software Foundation, either version 3 of the
* License, or (at your option) any later version.
*
* This code is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with this code. If not, see <http://www.gnu.org/licenses/>.
*/
package edu.wlu.cs.levy.breezyslam.algorithms;

23
java/edu/wlu/cs/levy/breezyslam/algorithms/SinglePositionSLAM.java
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@@ -1,10 +1,25 @@
/**
* SinglePositionSLAM is an abstract class that implements CoreSLAM using a point-cloud
* with a single point (particle, position). Implementing classes should provide the method
* SinglePositionSLAM is an abstract class that implements CoreSLAM using a point-cloud
* with a single point (particle, position). Implementing classes should provide the method
*
* Position getNewPosition(Position start_position)
* Position getNewPosition(Position start_position)
*
* to compute a new position based on searching from a starting position.
* to compute a new position based on searching from a starting position.
*
* Copyright (C) 2014 Simon D. Levy
*
* This code is free software: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as
* published by the Free Software Foundation, either version 3 of the
* License, or (at your option) any later version.
*
* This code is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with this code. If not, see <http://www.gnu.org/licenses/>.
*/
package edu.wlu.cs.levy.breezyslam.algorithms;

66
java/edu/wlu/cs/levy/breezyslam/algorithms/bak/CoreSLAM.java
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@@ -1,66 +0,0 @@
package edu.wlu.cs.levy.breezyslam.algorithms;
import edu.wlu.cs.levy.breezyslam.components.Laser;
import edu.wlu.cs.levy.breezyslam.components.Velocities;
public class CoreSLAM {
public CoreSLAM(Laser laser, int map_size_pixels, double map_size_meters)
{
/*
// Set default params
this->map_quality = DEFAULT_MAP_QUALITY;
this->hole_width_mm = DEFAULT_HOLE_WIDTH_MM;
// Store laser for later
this->laser = new Laser(laser);
// Initialize velocities (dxyMillimeters, dthetaDegrees, dtSeconds) for odometry
this->velocities = new Velocities();
// Initialize a scan for computing distance to map, and one for updating map
this->scan_for_mapbuild = this->scan_create(3);
this->scan_for_distance = this->scan_create(1);
// Initialize the map
this->map = new Map(map_size_pixels, map_size_meters);
*/
}
public void update(int [] scan_mm, Velocities velocities)
{
/*
// Build a scan for computing distance to map, and one for updating map
this->scan_update(this->scan_for_mapbuild, scan_mm);
this->scan_update(this->scan_for_distance, scan_mm);
// Update velocities
this->velocities->update(velocities.dxy_mm,
velocities.dtheta_degrees,
velocities.dt_seconds);
// Implementing class updates map and pointcloud
this->updateMapAndPointcloud(velocities);
*/
}
public void getmap(byte [] mapbytes)
{
//this->map->get((char *)mapbytes);
}
/*
Scan * CoreSLAM::scan_create(int span)
{
//return new Scan(this->laser, span);
}
void scan_update(Scan scan, int [] scan_mm)
{
//scan->update(scan_mm, this->hole_width_mm, *this->velocities);
}
*/
}

15
java/edu/wlu/cs/levy/breezyslam/algorithms/bak/Makefile
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@@ -1,15 +0,0 @@
JAVADIR = ../../../../../..
ALL = CoreSLAM.class
all: $(ALL)
CoreSLAM.class: CoreSLAM.java
javac -classpath $(JAVADIR):. CoreSLAM.java
clean:
rm -f *.class *~
backup:
cp *.java bak
cp Makefile bak

20
java/edu/wlu/cs/levy/breezyslam/algorithms/jnibreezyslam_algorithms.c
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@@ -1,3 +1,23 @@
/*
* jnibreezyslam_algorithms.c Java Native Interface code for BreezySLAM algorithms
*
* Copyright (C) 2014 Simon D. Levy
*
* This code is free software: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as
* published by the Free Software Foundation, either version 3 of the
* License, or (at your option) any later version.
*
* This code is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with this code. If not, see <http:#www.gnu.org/licenses/>.
*/
#include "../../../../../../../c/random.h"
#include "../jni_utils.h"

54
java/edu/wlu/cs/levy/breezyslam/components/Laser.java
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@@ -1,5 +1,30 @@
/**
*
* BreezySLAM: Simple, efficient SLAM in Java
*
* Laser.java - Java code for Laser model class
*
* Copyright (C) 2014 Simon D. Levy
*
* This code is free software: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as
* published by the Free Software Foundation, either version 3 of the
* License, or (at your option) any later version.
*
* This code is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with this code. If not, see <http://www.gnu.org/licenses/>.
*/
package edu.wlu.cs.levy.breezyslam.components;
/**
* A class for scanning laser rangefinder (Lidar) parameters.
*/
public class Laser
{
@@ -10,7 +35,18 @@ public class Laser
protected int detection_margin;
protected double offset_mm;
public Laser(
/**
* Builds a Laser object from parameters based on the specifications for your
* Lidar unit.
* @param scan_size number of rays per scan
* @param scan_rate_hz laser scan rate in Hertz
* @param detection_angle_degrees detection angle in degrees (e.g. 240, 360)
* @param detection_margin number of rays at edges of scan to ignore
* @param offset_mm forward/backward offset of laser motor from robot center
* @return a new Laser object
*
*/
public Laser(
int scan_size,
double scan_rate_hz,
double detection_angle_degrees,
@@ -26,7 +62,13 @@ public class Laser
this.offset_mm = offset_mm;
}
public Laser(Laser laser)
/**
* Builds a Laser object by copying another Laser object.
* Lidar unit.
* @param laser the other Laser object
*
*/
public Laser(Laser laser)
{
this.scan_size = laser.scan_size;
this.scan_rate_hz = laser.scan_rate_hz;
@@ -36,6 +78,10 @@ public class Laser
this.offset_mm = laser.offset_mm;
}
/**
* Returns a string representation of this Laser object.
*/
public String toString()
{
String format = "scan_size=%d | scan_rate=%3.3f hz | " +
@@ -51,6 +97,10 @@ public class Laser
}
/**
* Returns the offset of the laser in mm, from the center of the robot.
*
*/
public double getOffsetMm()
{
return this.offset_mm;

17
java/edu/wlu/cs/levy/breezyslam/components/Makefile
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@@ -1,3 +1,20 @@
# Makefile for BreezySLAM components in Java
#
# Copyright (C) 2014 Simon D. Levy
#
# This code is free software: you can redistribute it and/or modify
# it under the terms of the GNU Lesser General Public License as
# published by the Free Software Foundation, either version 3 of the
# License, or (at your option) any later version.
#
# This code is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
# You should have received a copy of the GNU Lesser General Public License
# along with this code. If not, see <http://www.gnu.org/licenses/>.
BASEDIR = ../../../../../../..
JAVADIR = $(BASEDIR)/java
CDIR = $(BASEDIR)/c

40
java/edu/wlu/cs/levy/breezyslam/components/Map.java
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@@ -1,5 +1,30 @@
/**
*
* BreezySLAM: Simple, efficient SLAM in Java
*
* Map.java - Java code for Map class
*
* Copyright (C) 2014 Simon D. Levy
*
* This code is free software: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as
* published by the Free Software Foundation, either version 3 of the
* License, or (at your option) any later version.
*
* This code is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with this code. If not, see <http://www.gnu.org/licenses/>.
*/
package edu.wlu.cs.levy.breezyslam.components;
/**
* A class for maps used in SLAM.
*/
public class Map
{
static
@@ -21,8 +46,17 @@ public class Map
private long native_ptr;
/**
* Returns a string representation of this Map object.
*/
public native String toString();
/**
* Builds a square Map object.
* @param size_pixels size in pixels
* @param size_meters size in meters
*
*/
public Map(int size_pixels, double size_meters)
{
this.init(size_pixels, size_meters);
@@ -33,7 +67,8 @@ public class Map
/**
* Puts current map values into bytearray, which should of which should be of
* this->size map_size_pixels ^ 2.
* this.size map_size_pixels ^ 2.
* @param bytes byte array that gets the map values
*/
public native void get(byte [] bytes);
@@ -50,6 +85,9 @@ public class Map
this.update(scan, position.x_mm, position.y_mm, position.theta_degrees, quality, hole_width_mm);
}
/**
* Returns the size of this map in meters.
*/
public double sizeMeters()
{
return this.size_meters;

75
java/edu/wlu/cs/levy/breezyslam/components/Position.java
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@@ -1,38 +1,81 @@
/**
*
* BreezySLAM: Simple, efficient SLAM in Java
*
* Position.java - Java code for Position class
*
* Copyright (C) 2014 Simon D. Levy
*
* This code is free software: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as
* published by the Free Software Foundation, either version 3 of the
* License, or (at your option) any later version.
*
* This code is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with this code. If not, see <http://www.gnu.org/licenses/>.
*/
package edu.wlu.cs.levy.breezyslam.components;
/**
* A class representing the position of a robot.
*/
public class Position
{
public double x_mm;
public double y_mm;
public double theta_degrees;
public Position(double x_mm, double y_mm, double theta_degrees)
/**
* Distance of robot from left edge of map, in millimeters.
*/
public double x_mm;
/**
* Distance of robot from top edge of map, in millimeters.
*/
public double y_mm;
/**
* Clockwise rotation of robot with respect to three o'clock (east), in degrees.
*/
public double theta_degrees;
/**
* Constructs a new position.
* @param x_mm X coordinate in millimeters
* @param y_mm Y coordinate in millimeters
* @param theta_degrees rotation angle in degrees
*/
public Position(double x_mm, double y_mm, double theta_degrees)
{
this.x_mm = x_mm;
this.y_mm = y_mm;
this.theta_degrees = theta_degrees;
}
public Position(Position position)
/**
* Constructs a new Position object by copying another.
* @param the other Positon object
*/
public Position(Position position)
{
this.x_mm = position.x_mm;
this.y_mm = position.y_mm;
this.theta_degrees = position.theta_degrees;
}
}
/**
* Returns a string representation of this Position object.
*/
public String toString()
{
//String format = "<x = %7.0f mm y = %7.0f mm theta = %+3.3f degrees>";
String format = "<x = %f mm y = %f mm theta = %f degrees>";
String format = "<x = %7.0f mm y = %7.0f mm theta = %+3.3f degrees>";
return String.format(format, this.x_mm, this.y_mm, this.theta_degrees);
}
public static void main(String[] argv)
{
Position position = new Position(300, 400, 120);
System.out.println(position);
}
}
}

39
java/edu/wlu/cs/levy/breezyslam/components/Scan.java
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@@ -1,5 +1,30 @@
/**
*
* BreezySLAM: Simple, efficient SLAM in Java
*
* Scan.java - Java code for Scan class
*
* Copyright (C) 2014 Simon D. Levy
*
* This code is free software: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as
* published by the Free Software Foundation, either version 3 of the
* License, or (at your option) any later version.
*
* This code is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with this code. If not, see <http://www.gnu.org/licenses/>.
*/
package edu.wlu.cs.levy.breezyslam.components;
/**
* A class for Lidar scans.
*/
public class Scan
{
static
@@ -20,6 +45,9 @@ public class Scan
public native String toString();
/**
* Returns a string representation of this Scan object.
*/
public native void update(
int [] lidar_mm,
double hole_width_mm,
@@ -27,6 +55,12 @@ public class Scan
double velocities_dtheta_degrees);
/**
* Builds a Scan object.
* @param laser laser parameters
* @param span supports spanning laser scan to cover the space better.
*
*/
public Scan(Laser laser, int span)
{
this.init(span,
@@ -38,6 +72,11 @@ public class Scan
laser.offset_mm);
}
/**
* Builds a Scan object.
* @param laser laser parameters
*
*/
public Scan(Laser laser)
{
this(laser, 1);

16
java/edu/wlu/cs/levy/breezyslam/components/URG04LX.java
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@@ -1,13 +1,27 @@
package edu.wlu.cs.levy.breezyslam.components;
/**
* A class for the Hokuyo URG-04LX laser.
*/
public class URG04LX extends Laser
{
public URG04LX(int detection_margin, double offset_mm)
/**
* Builds a URG04LX object.
* Lidar unit.
* @param detection_margin number of rays at edges of scan to ignore
* @param offset_mm forward/backward offset of laser motor from robot center
* @return a new URG04LX object
*
*/
public URG04LX(int detection_margin, double offset_mm)
{
super(682, 10, 240, 4000, detection_margin, offset_mm);
}
/**
* Builds a URG04LX object with zero detection margin, offset mm.
*/
public URG04LX()
{
this(0, 0);

54
java/edu/wlu/cs/levy/breezyslam/components/Velocities.java
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@@ -1,7 +1,29 @@
/**
*
* BreezySLAM: Simple, efficient SLAM in Java
*
* Velocities.java - Java code for Velocities class
*
* Copyright (C) 2014 Simon D. Levy
*
* This code is free software: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as
* published by the Free Software Foundation, either version 3 of the
* License, or (at your option) any later version.
*
* This code is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with this code. If not, see <http://www.gnu.org/licenses/>.
*/
package edu.wlu.cs.levy.breezyslam.components;
/**
* A class representing the forward and angular velocities of a robot.
* A class representing the forward and angular velocities of a robot as determined by odometry.
*/
public class Velocities
{
@@ -41,28 +63,52 @@ public class Velocities
this.dtheta_degrees = dtheta_degrees * velocity_factor;
}
/**
* Returns a string representation of this Velocities object.
*/
public String toString()
{
return String.format("<dxy=%7.0f mm dtheta = %+3.3f degrees dt = %f s",
this.dxy_mm, this.dtheta_degrees, this.dt_seconds);
}
/**
* Returns the forward component of this Velocities object.
*/
public double getDxyMm()
{
return this.dxy_mm;
}
public double getDthetaDegrees()
/**
* Returns the angular component of this Velocities object.
*/
public double getDthetaDegrees()
{
return this.dtheta_degrees;
}
/**
* Returns the time component of this Velocities object.
*/
public double getDtSeconds()
{
return this.dt_seconds;
}
/**
* Forward component of velocity, in mm to be divided by time in seconds.
*/
protected double dxy_mm;
protected double dtheta_degrees;
protected double dt_seconds;
/**
* Angular component of velocity, in mm to be divided by time in seconds.
*/
protected double dtheta_degrees;
/**
* Time in seconds between successive velocity measurements.
*/
protected double dt_seconds;
}

19
java/edu/wlu/cs/levy/breezyslam/components/jnibreezyslam_components.c
View File

@@ -1,3 +1,22 @@
/*
* jnibreezyslam_components.c Java Native Interface code for BreezySLAM components
*
* Copyright (C) 2014 Simon D. Levy
*
* This code is free software: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as
* published by the Free Software Foundation, either version 3 of the
* License, or (at your option) any later version.
*
* This code is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with this code. If not, see <http:#www.gnu.org/licenses/>.
*/
#include "../jni_utils.h"
#include "Map.h"

22
java/edu/wlu/cs/levy/breezyslam/jni_utils.h
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@@ -1,3 +1,25 @@
/*
* jni_utils.h Utilities for Java Native Interface code
*
* Copyright (C) 2014 Simon D. Levy
*
* This code is free software: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as
* published by the Free Software Foundation, either version 3 of the
* License, or (at your option) any later version.
*
* This code is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with this code. If not, see <http:#www.gnu.org/licenses/>.
*/
#include <stdlib.h>
#include <stdio.h>
#include "../../../../../../c/coreslam.h"
#include <jni.h>

17
java/edu/wlu/cs/levy/breezyslam/robots/Makefile
View File

@@ -1,3 +1,20 @@
# Makefile for BreezySLAM robots in Java
#
# Copyright (C) 2014 Simon D. Levy
#
# This code is free software: you can redistribute it and/or modify
# it under the terms of the GNU Lesser General Public License as
# published by the Free Software Foundation, either version 3 of the
# License, or (at your option) any later version.
#
# This code is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
# You should have received a copy of the GNU Lesser General Public License
# along with this code. If not, see <http://www.gnu.org/licenses/>.
BASEDIR = ../../../../../../..
JAVADIR = $(BASEDIR)/java
JFLAGS = -Xlint

4
java/edu/wlu/cs/levy/breezyslam/robots/WheeledRobot.java
View File

@@ -1,11 +1,11 @@
/**
*
* BreezySLAM: Simple, efficient SLAM in C++
* BreezySLAM: Simple, efficient SLAM in Java
*
* WheeledRobot.java - Java class for wheeled robots
*
* Copyright (C) 2014 Simon D. Levy
*
* This code is free software: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as
* published by the Free Software Foundation, either version 3 of the