Package lejos.robotics.localization

Class BeaconTriangle

java.lang.Object

lejos.robotics.localization.BeaconTriangle

public class BeaconTriangle
extends java.lang.Object

This class represents three beacons in a triangle. Uses triangulation to calculate the position of the robot.

Note: The algorithm in calcPose() is taken from "Generalized Geometric Triangulation Algorithm for Mobile Robot Absolute Self-Localization" from University of Minho, Portugal, 2003.
http://repositorium.sdum.uminho.pt/bitstream/1822/2023/1/BF-003328.pdf

Improved version from 2006 (not implemented by this class):
http://repositorium.sdum.uminho.pt/bitstream/1822/6057/1/An Improved Version of the Generalized Geometric Triangulation Algorithm.pdf

Author:

Andy Shaw and BB

Constructor Summary

Constructors

Constructor	Description
BeaconTriangle(Point beacon1, Point beacon2, Point beacon3)

Method Summary

Modifier and Type	Method	Description
Pose	calcPose(double a1, double a2, double a3)	Triangulates the pose of a robot given three angles to the three beacons.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

BeaconTriangle

public BeaconTriangle(Point beacon1,
                      Point beacon2,
                      Point beacon3)

Method Detail

calcPose

public Pose calcPose(double a1,
                     double a2,
                     double a3)

Triangulates the pose of a robot given three angles to the three beacons. The angle to a beacon must correspond to the proper beacon as given in the BeaconTriangle constructor. For example, the angle a1 in the method calcPose() must be the angle to beacon1, as given in the constructor.

Parameters:

a1 - Angle from robot current heading to beacon 1 (in degrees)

a2 - Angle from robot current heading to beacon 2 (in degrees)

a3 - Angle from robot current heading to beacon 3 (in degrees)

Returns:

the pose of the robot (x, y, heading)