Restored Matlab, Java

matlab/RMHC_SLAM.m

@@ -0,0 +1,72 @@
+classdef RMHC_SLAM < SinglePositionSLAM
+    %RMHC_SLAM Random Mutation Hill-Climbing SLAM 
+    %    Implements the getNewPosition() method of SinglePositionSLAM 
+    %    using Random-Mutation Hill-Climbing search.  Uses its own internal 
+    %    pseudorandom-number generator for efficiency.
+    %
+    %    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')
+        sigma_xy_mm = 100; % std. dev. of X/Y component of search
+        sigma_theta_degrees = 20; % std. dev. of angular component of search
+        max_search_iter = 1000; % max. # of search iterations per update
+    end
+    
+    properties (Access = 'private')
+        c_randomizer
+    end
+    
+    methods
+        
+        function slam = RMHC_SLAM(laser, map_size_pixels, map_size_meters, random_seed)
+        %Creates an RMHC_SLAM object suitable for updating with new Lidar and odometry data.
+        %    slam = RMHC_SLAM(laser, map_size_pixels, map_size_meters, random_seed)
+        %    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
+        %    random_seed supports reproducible results; defaults to system time if unspecified
+            
+            slam = slam@SinglePositionSLAM(laser, map_size_pixels, map_size_meters);
+            
+            if nargin < 3
+                random_seed = floor(cputime) & hex2dec('FFFF');
+            end
+            
+            slam.c_randomizer = mex_breezyslam('Randomizer_init', random_seed);
+            
+        end
+        
+        function new_pos = getNewPosition(slam, start_pos)
+            % Implements the _getNewPosition() method of SinglePositionSLAM. 
+            %    Uses Random-Mutation Hill-Climbing search to look for a 
+            %    better position based on a starting position.
+                                               
+            [new_pos.x_mm,new_pos.y_mm,new_pos.theta_degrees] = ...
+            mex_breezyslam('rmhcPositionSearch',  ...
+                start_pos, ...
+                slam.map.c_map, ...
+                slam.scan_for_distance.c_scan, ...
+                slam.laser,...
+                slam.sigma_xy_mm,...
+                slam.sigma_theta_degrees,...
+                slam.max_search_iter,...
+                slam.c_randomizer);
+        end
+        
+    end
+    
+end
+