MCLParticle (leJOS EV3 API documentation)

java.lang.Object
- lejos.robotics.localization.MCLParticle

```
public class MCLParticle
extends java.lang.Object
```
Represents a particle for the particle filtering algorithm. The state of the particle is the pose, which represents a possible pose of the robot. The weight for a particle is set by taking a set of theoretical range readings using a map of the environment, and comparing these ranges with those taken by the robot. The weight represents the relative probability that the robot has this pose. Weights are from 0 to 1.

Author:

Lawrie Griffiths

Constructor Summary

Constructors
Constructor Description

MCLParticle(Pose pose)
Create a particle with a specific pose

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method	Description
`void`	`applyMove(Move move, float distanceNoiseFactor, float angleNoiseFactor)`	Apply the robot's move to the particle with a bit of random noise.
`void`	`calculateWeight(RangeReadings rr, RangeMap map, float divisor)`	Calculate the weight for this particle by comparing its readings with the robot's readings
`Pose`	`getPose()`	Return the pose of this particle
`float`	`getReading(int i, RangeReadings rr, RangeMap map)`	Get a specific reading
`RangeReadings`	`getReadings(RangeReadings rr, RangeMap map)`
`float`	`getWeight()`	Return the weight of this particle
`static void`	`setDebug(boolean yes)`
`void`	`setWeight(float weight)`	Set the weight for this particle

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail
- MCLParticle
```
public MCLParticle(Pose pose)
```
  Create a particle with a specific pose
  
  Parameters:
  
  pose - the pose

Method Detail

setDebug

public static void setDebug(boolean yes)

setWeight
```
public void setWeight(float weight)
```
Set the weight for this particle

Parameters:

weight - the weight of this particle

getWeight
```
public float getWeight()
```
Return the weight of this particle

Returns:

the weight

getPose
```
public Pose getPose()
```
Return the pose of this particle

Returns:

the pose

calculateWeight

public void calculateWeight(RangeReadings rr,
                            RangeMap map,
                            float divisor)

Calculate the weight for this particle by comparing its readings with the robot's readings

Parameters:: rr - Robot readings

getReading

public float getReading(int i,
                        RangeReadings rr,
                        RangeMap map)

Get a specific reading

Parameters:: i - the index of the reading
Returns:: the reading

getReadings

public RangeReadings getReadings(RangeReadings rr,
                                 RangeMap map)

applyMove
```
public void applyMove(Move move,
                      float distanceNoiseFactor,
                      float angleNoiseFactor)
```
Apply the robot's move to the particle with a bit of random noise. Only works for rotate or travel movements.

Parameters:

move - the robot's move