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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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13
matlab/CoreSLAM.m
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@@ -96,15 +96,20 @@ classdef CoreSLAM
% Calls the the implementing class's updateMapAndPointcloud()
% method with the specified velocities.
%
% slam = update(slam, scans_mm, velocities)
% slam = update(slam, scans_mm, [velocities])
%
% scan_mm is a list of Lidar scan values, whose count is specified in the scan_size
% velocities is a list of velocities [dxy_mm, dtheta_degrees, dt_seconds] for odometry
% velocities is an optional list of velocities [dxy_mm, dtheta_degrees, dt_seconds] for odometry
% Build a scan for computing distance to map, and one for updating map
slam.scan_update(slam.scan_for_mapbuild, scans_mm)
slam.scan_update(slam.scan_for_distance, scans_mm)
% Default to zero velocities
if nargin < 3
velocities = [0, 0, 0];
end
% Update velocities
velocity_factor = 0;
if velocities(3) > 0