Velocities => PoseChange

.gitignore

@@ -1,3 +1,6 @@
+java/edu/wlu/cs/levy/breezyslam/algorithms/RMHCSLAM.h
+java/edu/wlu/cs/levy/breezyslam/components/Map.h
+java/edu/wlu/cs/levy/breezyslam/components/Scan.h
 examples/__pycache__
 examples/*.pyc
 examples/*.pgm
@@ -7,6 +10,7 @@ examples/log2pgm
 python/breezyslam/*.pyc
 python/breezyslam/__pycache__
 python/build
+*.class
 *.o
 *.so
 *.swp

java/edu/wlu/cs/levy/breezyslam/algorithms/CoreSLAM.java

@@ -22,7 +22,7 @@
 package edu.wlu.cs.levy.breezyslam.algorithms;
 
 import edu.wlu.cs.levy.breezyslam.components.Laser;
-import edu.wlu.cs.levy.breezyslam.components.Velocities;
+import edu.wlu.cs.levy.breezyslam.components.PoseChange;
 import edu.wlu.cs.levy.breezyslam.components.Map;
 import edu.wlu.cs.levy.breezyslam.components.Scan;
 
@@ -43,7 +43,7 @@ import edu.wlu.cs.levy.breezyslam.components.Scan;
 *     </pre>
 *    Implementing classes should provide the method
 *
-*      void updateMapAndPointcloud(int * scan_mm, Velocities & velocities)
+*      void updateMapAndPointcloud(int * scan_mm, PoseChange & poseChange)
 *
 *    to update the map and point-cloud (particle cloud).
 *
@@ -62,7 +62,7 @@ public abstract class CoreSLAM {
 
     protected Laser laser;
 
-    protected Velocities velocities;
+    protected PoseChange poseChange;
 
     protected Map map;
 
@@ -74,8 +74,8 @@ public abstract class CoreSLAM {
         // Set default params
         this.laser = new Laser(laser);
         
-        // Initialize velocities (dxyMillimeters, dthetaDegrees, dtSeconds) for odometry
+        // Initialize poseChange (dxyMillimeters, dthetaDegrees, dtSeconds) for odometry
-        this.velocities = new Velocities();
+        this.poseChange = new PoseChange();
 
         // Initialize a scan for computing distance to map, and one for updating map
         this.scan_for_mapbuild = this.scan_create(3);
@@ -92,38 +92,38 @@ public abstract class CoreSLAM {
 
     private void scan_update(Scan scan, int [] scan_mm)
     {
-        scan.update(scan_mm, this.hole_width_mm, this.velocities);
+        scan.update(scan_mm, this.hole_width_mm, this.poseChange);
     }
 
 
-    public void update(int [] scan_mm, Velocities velocities)
+    public void update(int [] scan_mm, PoseChange poseChange)
     {             
         // 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
+        // Update poseChange
-        this.velocities.update(velocities.getDxyMm(), velocities.getDthetaDegrees(),  velocities.getDtSeconds());
+        this.poseChange.update(poseChange.getDxyMm(), poseChange.getDthetaDegrees(),  poseChange.getDtSeconds());
                                  
         // Implementing class updates map and pointcloud
-        this.updateMapAndPointcloud(velocities);
+        this.updateMapAndPointcloud(poseChange);
     }   
 
     /**
-    * Updates the scan, and calls the the implementing class's updateMapAndPointcloud method with zero velocities
+    * Updates the scan, and calls the the implementing class's updateMapAndPointcloud method with zero poseChange
     * (no odometry).
     * @param scan_mm Lidar scan values, whose count is specified in the <tt>scan_size</tt> 
     * attribute of the Laser object passed to the CoreSlam constructor
     */
     public void update(int [] scan_mm)
     {
-        Velocities zero_velocities = new Velocities();
+        PoseChange zero_poseChange = new PoseChange();
 
-        this.update(scan_mm, zero_velocities);
+        this.update(scan_mm, zero_poseChange);
     }
 
 
-    protected abstract void updateMapAndPointcloud(Velocities velocities);
+    protected abstract void updateMapAndPointcloud(PoseChange poseChange);
 
     public void getmap(byte [] mapbytes)
     {

java/edu/wlu/cs/levy/breezyslam/algorithms/RMHCSLAM.java

@@ -21,7 +21,7 @@ package edu.wlu.cs.levy.breezyslam.algorithms;
 
 import edu.wlu.cs.levy.breezyslam.components.Position;
 import edu.wlu.cs.levy.breezyslam.components.Laser;
-import edu.wlu.cs.levy.breezyslam.components.Velocities;
+import edu.wlu.cs.levy.breezyslam.components.PoseChange;
 import edu.wlu.cs.levy.breezyslam.components.Map;
 import edu.wlu.cs.levy.breezyslam.components.Scan;
 

java/edu/wlu/cs/levy/breezyslam/algorithms/SinglePositionSLAM.java

@@ -25,7 +25,7 @@
 package edu.wlu.cs.levy.breezyslam.algorithms;
 
 import edu.wlu.cs.levy.breezyslam.components.Position;
-import edu.wlu.cs.levy.breezyslam.components.Velocities;
+import edu.wlu.cs.levy.breezyslam.components.PoseChange;
 import edu.wlu.cs.levy.breezyslam.components.Laser;
 
 
@@ -57,17 +57,17 @@ public abstract class SinglePositionSLAM extends CoreSLAM
     
     /**
     * Updates the map and point-cloud (particle cloud). Called automatically by CoreSLAM::update()
-    * @param velocities velocities for odometry
+    * @param poseChange poseChange for odometry
     */
-    protected void updateMapAndPointcloud(Velocities velocities)
+    protected void updateMapAndPointcloud(PoseChange poseChange)
     {
         // Start at current position 
         Position start_pos = new Position(this.position);
 
-        // Add effect of velocities
+        // Add effect of poseChange
-        start_pos.x_mm      += velocities.getDxyMm() * this.costheta();
+        start_pos.x_mm      += poseChange.getDxyMm() * this.costheta();
-        start_pos.y_mm      += velocities.getDxyMm() *  this.sintheta();
+        start_pos.y_mm      += poseChange.getDxyMm() *  this.sintheta();
-        start_pos.theta_degrees += velocities.getDthetaDegrees();
+        start_pos.theta_degrees += poseChange.getDthetaDegrees();
         
         // Add offset from laser
         start_pos.x_mm += this.laser.getOffsetMm() * this.costheta();

java/edu/wlu/cs/levy/breezyslam/components/Makefile

@@ -43,7 +43,7 @@ else
   ARCH = sisd
 endif
 
-ALL = libjnibreezyslam_components.$(LIBEXT) Laser.class Position.class Velocities.class URG04LX.class
+ALL = libjnibreezyslam_components.$(LIBEXT) Laser.class Position.class PoseChange.class URG04LX.class
 
 all: $(ALL)
 
@@ -78,8 +78,8 @@ Laser.class: Laser.java
 URG04LX.class: URG04LX.java Laser.class
 	javac $(JFLAGS) -classpath $(JAVADIR) URG04LX.java
 
-Velocities.class: Velocities.java
+PoseChange.class: PoseChange.java
-	javac $(JFLAGS) Velocities.java
+	javac $(JFLAGS) PoseChange.java
 
 
 Position.class: Position.java

java/edu/wlu/cs/levy/breezyslam/components/PoseChange.java

@@ -2,7 +2,8 @@
 * 
 * BreezySLAM: Simple, efficient SLAM in Java
 *
-* Velocities.java - Java code for Velocities class
+* PoseChange.java - Java code for PoseChange class, encoding triple 
+* (dxy_mm, dtheta_degrees, dt_seconds)
 *
 * Copyright (C) 2014 Simon D. Levy
 *
@@ -25,13 +26,13 @@ package edu.wlu.cs.levy.breezyslam.components;
 /**
 * A class representing the forward and angular velocities of a robot as determined by odometry.
 */
-public class Velocities 
+public class PoseChange 
 {    
     
     /**
-    * Creates a new Velocities object with specified velocities.
+    * Creates a new PoseChange object with specified velocities.
     */
-    public Velocities(double dxy_mm, double dtheta_degrees, double dtSeconds)
+    public PoseChange(double dxy_mm, double dtheta_degrees, double dtSeconds)
     {
         this.dxy_mm = dxy_mm;
         this.dtheta_degrees = dtheta_degrees;
@@ -39,9 +40,9 @@ public class Velocities
     }
 
     /**
-    * Creates a new Velocities object with zero velocities.
+    * Creates a new PoseChange object with zero velocities.
     */
-    public Velocities()
+    public PoseChange()
     {
         this.dxy_mm = 0;
         this.dtheta_degrees = 0;
@@ -49,7 +50,7 @@ public class Velocities
     }
 
     /**
-    * Updates this Velocities object.
+    * Updates this PoseChange object.
     * @param dxy_mm new forward distance traveled in millimeters
     * @param dtheta_degrees new angular rotation in degrees
     * @param dtSeconds time in seconds since last velocities
@@ -64,7 +65,7 @@ public class Velocities
     }
 
     /**
-      * Returns a string representation of this Velocities object.
+      * Returns a string representation of this PoseChange object.
       */
     public String toString()
     {
@@ -73,7 +74,7 @@ public class Velocities
     }
 
     /**
-      * Returns the forward component of this Velocities object.
+      * Returns the forward component of this PoseChange object.
       */
     public double getDxyMm()
     {
@@ -81,7 +82,7 @@ public class Velocities
     }
 
     /**
-      * Returns the angular component of this Velocities object.
+      * Returns the angular component of this PoseChange object.
       */
      public double getDthetaDegrees()
     {
@@ -89,7 +90,7 @@ public class Velocities
     }
 
     /**
-      * Returns the time component of this Velocities object.
+      * Returns the time component of this PoseChange object.
       */
     public double getDtSeconds()
     {

java/edu/wlu/cs/levy/breezyslam/components/Scan.java

@@ -51,8 +51,8 @@ public class Scan
     public native void update(
             int [] lidar_mm,
             double hole_width_mm,
-            double velocities_dxy_mm,
+            double poseChange_dxy_mm,
-            double velocities_dtheta_degrees);
+            double poseChange_dtheta_degrees);
 
 
     /**
@@ -86,12 +86,12 @@ public class Scan
     * Updates this Scan object with new values from a Lidar scan.
     * @param scanvals_mm scanned Lidar distance values in millimeters
     * @param hole_width_millimeters hole width in millimeters
-    * @param velocities forward velocity and angular velocity of robot at scan time
+    * @param poseChange forward velocity and angular velocity of robot at scan time
     * 
     */
-    public void update(int [] scanvals_mm, double hole_width_millimeters, Velocities velocities) 
+    public void update(int [] scanvals_mm, double hole_width_millimeters, PoseChange poseChange) 
     {
-        this.update(scanvals_mm, hole_width_millimeters, velocities.dxy_mm, velocities.dtheta_degrees);
+        this.update(scanvals_mm, hole_width_millimeters, poseChange.dxy_mm, poseChange.dtheta_degrees);
     }
 }