Restored Matlab, Java

matlab/CoreSLAM.m

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+classdef CoreSLAM
+    %CoreSLAM CoreSLAM abstract class for BreezySLAM
+    %     CoreSLAM is an abstract class that uses the classes Position, 
+    %     Map, Scan, and Laser to run variants of the simple CoreSLAM 
+    %     (tinySLAM) algorithm described in 
+    %         
+    %      @inproceedings{coreslam-2010,  
+    %        author    = {Bruno Steux and Oussama El Hamzaoui}, 
+    %        title     = {CoreSLAM: a SLAM Algorithm in less than 200 lines of C code},  
+    %        booktitle = {11th International Conference on Control, Automation,   
+    %                     Robotics and Vision, ICARCV 2010, Singapore, 7-10  
+    %                     December 2010, Proceedings},  
+    %        pages     = {1975-1979},  
+    %        publisher = {IEEE},  
+    %        year      = {2010}
+    %      }
+    %     
+    %     
+    %    Implementing classes should provide the method
+    %     
+    %       updateMapAndPointcloud(scan_mm, velocities)
+    %     
+    %    to update the map and point-cloud (particle cloud).
+    %
+    %    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/>.
+    
+    properties (Access = 'public')
+        map_quality = 50;     % The quality of the map (0 through 255); default = 50
+        hole_width_mm = 600;  % The width in millimeters of each "hole" in the map (essentially, wall width); default = 600
+    end
+    
+    properties (Access = 'protected')
+        laser % (internal)
+        scan_for_distance % (internal)
+        scan_for_mapbuild % (internal)
+        map % (internal)
+        velocities % (internal)
+    end
+       
+    methods (Abstract, Access = 'protected')
+        
+        updateMapAndPointcloud(slam, velocities)
+        
+    end
+    
+    methods (Access = 'private')
+        
+        function scan_update(slam, scanobj, scans_mm)
+            scanobj.update(scans_mm, slam.hole_width_mm, slam.velocities)
+        end
+        
+    end    
+    
+    methods (Access = 'protected')
+        
+        function slam = CoreSLAM(laser, map_size_pixels, map_size_meters)
+            % Creates a CoreSLAM object suitable for updating with new Lidar and odometry data.
+            % CoreSLAM(laser, map_size_pixels, map_size_meters)
+            %   laser is a Laser object representing the specifications of your Lidar unit
+            %   map_size_pixels is the size of the square map in pixels
+            %   map_size_meters is the size of the square map in meters
+           
+            % Store laser for later
+            slam.laser = laser;
+            
+            % Initialize velocities (dxyMillimeters, dthetaDegrees, dtSeconds) for odometry
+            slam.velocities = [0, 0, 0];
+            
+            % Initialize a scan for computing distance to map, and one for updating map
+            slam.scan_for_distance = Scan(laser, 1);
+            slam.scan_for_mapbuild = Scan(laser, 3);
+            
+            % Initialize the map
+            slam.map = Map(map_size_pixels, map_size_meters);
+            
+        end
+    end
+    
+    methods (Access = 'public')
+        
+        function slam = update(slam, scans_mm, velocities)
+            % Updates the scan and odometry.
+            %     Calls the the implementing class's updateMapAndPointcloud()
+            %     method with the specified 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 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
+                velocity_factor = 1 / velocities(3);
+            end
+            new_dxy_mm = velocities(1) * velocity_factor;
+            new_dtheta_degrees = velocities(2) * velocity_factor;
+            slam.velocities = [new_dxy_mm, new_dtheta_degrees, 0];
+            
+            % Implementing class updates map and pointcloud
+            slam = slam.updateMapAndPointcloud(velocities);
+            
+        end
+        
+        function map = getmap(slam)
+            % Returns the current map.
+            %     Map is returned as an occupancy grid (matrix of pixels).
+            map = slam.map.get();
+        end
+        
+    end
+    
+end
+