java.lang.Object

com.irurueta.ar.slam.PositionPredictor

public class PositionPredictor extends Object

Utility class to predict position of device.

Field Summary

Fields

Modifier and Type

Field

Description

static final int

ACCELERATION_COMPONENTS

Number of components of acceleration.

static final int

SPEED_COMPONENTS

Number of components of speed.
Constructor Summary

Constructors

Modifier

Constructor

Description

private

PositionPredictor()

Constructor.
Method Summary

Modifier and Type

Method

Description

static com.irurueta.geometry.InhomogeneousPoint3D

predict(com.irurueta.geometry.InhomogeneousPoint3D r, double[] v, double dt)

Predicts the updated position assuming no acceleration.

static com.irurueta.geometry.InhomogeneousPoint3D

predict(com.irurueta.geometry.InhomogeneousPoint3D r, double[] v, double[] a, double dt)

Predicts the updated position.

static com.irurueta.geometry.InhomogeneousPoint3D

predict(com.irurueta.geometry.InhomogeneousPoint3D r, double[] v, double[] a, double dt, com.irurueta.algebra.Matrix jacobianR, com.irurueta.algebra.Matrix jacobianV, com.irurueta.algebra.Matrix jacobianA)

Predicts the updated position.

static void

predict(com.irurueta.geometry.InhomogeneousPoint3D r, double[] v, double[] a, double dt, com.irurueta.geometry.InhomogeneousPoint3D result)

Predicts the updated position.

static void

predict(com.irurueta.geometry.InhomogeneousPoint3D r, double[] v, double[] a, double dt, com.irurueta.geometry.InhomogeneousPoint3D result, com.irurueta.algebra.Matrix jacobianR, com.irurueta.algebra.Matrix jacobianV, com.irurueta.algebra.Matrix jacobianA)

Predicts the updated position.

static com.irurueta.geometry.InhomogeneousPoint3D

predict(com.irurueta.geometry.InhomogeneousPoint3D r, double[] v, double dt, com.irurueta.algebra.Matrix jacobianR, com.irurueta.algebra.Matrix jacobianV, com.irurueta.algebra.Matrix jacobianA)

Predicts the updated position assuming no acceleration.

static void

predict(com.irurueta.geometry.InhomogeneousPoint3D r, double[] v, double dt, com.irurueta.geometry.InhomogeneousPoint3D result)

Predicts the updated position assuming no acceleration.

static void

predict(com.irurueta.geometry.InhomogeneousPoint3D r, double[] v, double dt, com.irurueta.geometry.InhomogeneousPoint3D result, com.irurueta.algebra.Matrix jacobianR, com.irurueta.algebra.Matrix jacobianV, com.irurueta.algebra.Matrix jacobianA)

Predicts the updated position assuming no acceleration.

static com.irurueta.geometry.InhomogeneousPoint3D

predict(com.irurueta.geometry.InhomogeneousPoint3D r, double vx, double vy, double vz, double dt)

Predicts the updated position assuming no acceleration.

static com.irurueta.geometry.InhomogeneousPoint3D

predict(com.irurueta.geometry.InhomogeneousPoint3D r, double vx, double vy, double vz, double ax, double ay, double az, double dt)

Predicts the updated position.

static com.irurueta.geometry.InhomogeneousPoint3D

predict(com.irurueta.geometry.InhomogeneousPoint3D r, double vx, double vy, double vz, double ax, double ay, double az, double dt, com.irurueta.algebra.Matrix jacobianR, com.irurueta.algebra.Matrix jacobianV, com.irurueta.algebra.Matrix jacobianA)

Predicts the updated position

static void

predict(com.irurueta.geometry.InhomogeneousPoint3D r, double vx, double vy, double vz, double ax, double ay, double az, double dt, com.irurueta.geometry.InhomogeneousPoint3D result)

Predicts the updated position.

static void

predict(com.irurueta.geometry.InhomogeneousPoint3D r, double vx, double vy, double vz, double ax, double ay, double az, double dt, com.irurueta.geometry.InhomogeneousPoint3D result, com.irurueta.algebra.Matrix jacobianR, com.irurueta.algebra.Matrix jacobianV, com.irurueta.algebra.Matrix jacobianA)

Predicts the updated position.

static com.irurueta.geometry.InhomogeneousPoint3D

predict(com.irurueta.geometry.InhomogeneousPoint3D r, double vx, double vy, double vz, double dt, com.irurueta.algebra.Matrix jacobianR, com.irurueta.algebra.Matrix jacobianV, com.irurueta.algebra.Matrix jacobianA)

Predicts the updated position assuming no acceleration.

static void

predict(com.irurueta.geometry.InhomogeneousPoint3D r, double vx, double vy, double vz, double dt, com.irurueta.geometry.InhomogeneousPoint3D result)

Predicts the updated position assuming no acceleration.

static void

predict(com.irurueta.geometry.InhomogeneousPoint3D r, double vx, double vy, double vz, double dt, com.irurueta.geometry.InhomogeneousPoint3D result, com.irurueta.algebra.Matrix jacobianR, com.irurueta.algebra.Matrix jacobianV, com.irurueta.algebra.Matrix jacobianA)

Predicts the updated position assuming no acceleration.

static com.irurueta.geometry.InhomogeneousPoint3D

predictWithPositionAdjustment(com.irurueta.geometry.InhomogeneousPoint3D r, double[] dr, double[] v, double[] a, double dt)

Predicts the updated position.

static com.irurueta.geometry.InhomogeneousPoint3D

predictWithPositionAdjustment(com.irurueta.geometry.InhomogeneousPoint3D r, double[] dr, double[] v, double[] a, double dt, com.irurueta.algebra.Matrix jacobianR, com.irurueta.algebra.Matrix jacobianDR, com.irurueta.algebra.Matrix jacobianV, com.irurueta.algebra.Matrix jacobianA)

Predicts the updated position by using provided position variation, current speed and current acceleration.

static void

predictWithPositionAdjustment(com.irurueta.geometry.InhomogeneousPoint3D r, double[] dr, double[] v, double[] a, double dt, com.irurueta.geometry.InhomogeneousPoint3D result)

Predicts the updated position.

static void

predictWithPositionAdjustment(com.irurueta.geometry.InhomogeneousPoint3D r, double[] dr, double[] v, double[] a, double dt, com.irurueta.geometry.InhomogeneousPoint3D result, com.irurueta.algebra.Matrix jacobianR, com.irurueta.algebra.Matrix jacobianDR, com.irurueta.algebra.Matrix jacobianV, com.irurueta.algebra.Matrix jacobianA)

Predicts the updated position by using provided position variation, current speed and current acceleration.

static com.irurueta.geometry.InhomogeneousPoint3D

predictWithPositionAdjustment(com.irurueta.geometry.InhomogeneousPoint3D r, double drx, double dry, double drz, double vx, double vy, double vz, double ax, double ay, double az, double dt)

Predicts the updated position by using provided position variation, current speed and current acceleration.

static com.irurueta.geometry.InhomogeneousPoint3D

predictWithPositionAdjustment(com.irurueta.geometry.InhomogeneousPoint3D r, double drx, double dry, double drz, double vx, double vy, double vz, double ax, double ay, double az, double dt, com.irurueta.algebra.Matrix jacobianR, com.irurueta.algebra.Matrix jacobianDR, com.irurueta.algebra.Matrix jacobianV, com.irurueta.algebra.Matrix jacobianA)

Predicts the updated position by using provided position variation, current speed and current acceleration.

static void

predictWithPositionAdjustment(com.irurueta.geometry.InhomogeneousPoint3D r, double drx, double dry, double drz, double vx, double vy, double vz, double ax, double ay, double az, double dt, com.irurueta.geometry.InhomogeneousPoint3D result)

Predicts the updated position by using provided position variation, current speed and current acceleration.

static void

predictWithPositionAdjustment(com.irurueta.geometry.InhomogeneousPoint3D r, double drx, double dry, double drz, double vx, double vy, double vz, double ax, double ay, double az, double dt, com.irurueta.geometry.InhomogeneousPoint3D result, com.irurueta.algebra.Matrix jacobianR, com.irurueta.algebra.Matrix jacobianDR, com.irurueta.algebra.Matrix jacobianV, com.irurueta.algebra.Matrix jacobianA)

Predicts the updated position by using provided position variation, current speed and current acceleration.

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

Field Details
- SPEED_COMPONENTS
  
  public static final int SPEED_COMPONENTS
  
  Number of components of speed.
  See Also:
  
  Constant Field Values
- ACCELERATION_COMPONENTS
  
  public static final int ACCELERATION_COMPONENTS
  
  Number of components of acceleration.
  See Also:
  
  Constant Field Values
Constructor Details
- PositionPredictor
  
  private PositionPredictor()
  
  Constructor.
Method Details
- predict
  
  public static void predict(com.irurueta.geometry.InhomogeneousPoint3D r, double vx, double vy, double vz, double ax, double ay, double az, double dt, com.irurueta.geometry.InhomogeneousPoint3D result, com.irurueta.algebra.Matrix jacobianR, com.irurueta.algebra.Matrix jacobianV, com.irurueta.algebra.Matrix jacobianA)
  
  Predicts the updated position.
  Parameters:
  
  r - current position. Expressed in meters.
  
  vx - velocity in x-axis. Expressed in m/s.
  
  vy - velocity in y-axis. Expressed in m/s.
  
  vz - velocity in z-axis. Expressed in m/s.
  
  ax - acceleration in x-axis. Expressed in m/s^2.
  
  ay - acceleration in y-axis. Expressed in m/s^2.
  
  az - acceleration in z-axis. Expressed in m/s^2.
  
  dt - time interval to compute prediction expressed in seconds.
  
  result - instance where updated position is stored.
  
  jacobianR - jacobian wrt position. Must be 3x3.
  
  jacobianV - jacobian wrt speed. Must be 3x3.
  
  jacobianA - jacobian wrt acceleration. Must be 3x3.
  
  Throws:
  
  IllegalArgumentException - if any of provided jacobians does not have proper size.
  
  See Also:
  
  rpredict.m at https://github.com/joansola/slamtb
- predict
  
  public static void predict(com.irurueta.geometry.InhomogeneousPoint3D r, double vx, double vy, double vz, double ax, double ay, double az, double dt, com.irurueta.geometry.InhomogeneousPoint3D result)
  
  Predicts the updated position.
  Parameters:
  
  r - current position. Expressed in meters.
  
  vx - velocity in x-axis. Expressed in m/s.
  
  vy - velocity in y-axis. Expressed in m/s.
  
  vz - velocity in z-axis. Expressed in m/s.
  
  ax - acceleration in x-axis. Expressed in m/s^2.
  
  ay - acceleration in y-axis. Expressed in m/s^2.
  
  az - acceleration in z-axis. Expressed in m/s^2.
  
  dt - time interval to compute prediction expressed in seconds.
  
  result - instance where updated position is stored.
  
  See Also:
  
  rpredict.m at https://github.com/joansola/slamtb
- predict
  
  public static void predict(com.irurueta.geometry.InhomogeneousPoint3D r, double[] v, double[] a, double dt, com.irurueta.geometry.InhomogeneousPoint3D result, com.irurueta.algebra.Matrix jacobianR, com.irurueta.algebra.Matrix jacobianV, com.irurueta.algebra.Matrix jacobianA)
  
  Predicts the updated position.
  Parameters:
  
  r - point containing current position in 3D. Expressed in meters.
  
  v - array containing 3 components of velocity. Expressed in m/s. Must have length 3.
  
  a - array containing 3 components of acceleration. Expressed in m/s^2. Must have length 3.
  
  dt - time interval to compute prediction expressed in seconds.
  
  result - instance where updated position is stored.
  
  jacobianR - jacobian wrt position. Must be 3x3.
  
  jacobianV - jacobian wrt speed. Must be 3x3.
  
  jacobianA - jacobian wrt acceleration. Must be 3x3.
  
  Throws:
  
  IllegalArgumentException - if any of provided jacobians does not have proper size of velocity or acceleration do not have length 3.
  
  See Also:
  
  rpredict.m at https://github.com/joansola/slamtb
- predict
  
  public static void predict(com.irurueta.geometry.InhomogeneousPoint3D r, double[] v, double[] a, double dt, com.irurueta.geometry.InhomogeneousPoint3D result)
  
  Predicts the updated position.
  Parameters:
  
  r - point containing current position in 3D. Expressed in meters.
  
  v - array containing 3 components of velocity. Expressed in m/s. Must have length 3.
  
  a - array containing 3 components of acceleration. Expressed in m/s^2. Must have length 3.
  
  dt - time interval to compute prediction expressed in seconds.
  
  result - instance where updated position is stored.
  
  See Also:
  
  rpredict.m at https://github.com/joansola/slamtb
- predict
  
  public static void predict(com.irurueta.geometry.InhomogeneousPoint3D r, double vx, double vy, double vz, double dt, com.irurueta.geometry.InhomogeneousPoint3D result, com.irurueta.algebra.Matrix jacobianR, com.irurueta.algebra.Matrix jacobianV, com.irurueta.algebra.Matrix jacobianA)
  
  Predicts the updated position assuming no acceleration.
  Parameters:
  
  r - current position. Expressed in meters.
  
  vx - velocity in x-axis. Expressed in m/s.
  
  vy - velocity in y-axis. Expressed in m/s.
  
  vz - velocity in z-axis. Expressed in m/s.
  
  dt - time interval to compute prediction expressed in seconds.
  
  result - instance where updated position is stored.
  
  jacobianR - jacobian wrt position. Must be 3x3.
  
  jacobianV - jacobian wrt speed. Must be 3x3.
  
  jacobianA - jacobian wrt acceleration. Must be 3x3.
  
  Throws:
  
  IllegalArgumentException - if any of provided jacobians does not have proper size.
  
  See Also:
  
  rpredict.m at https://github.com/joansola/slamtb
- predict
  
  public static void predict(com.irurueta.geometry.InhomogeneousPoint3D r, double vx, double vy, double vz, double dt, com.irurueta.geometry.InhomogeneousPoint3D result)
  
  Predicts the updated position assuming no acceleration.
  Parameters:
  
  r - current position. Expressed in meters.
  
  vx - velocity in x-axis. Expressed in m/s.
  
  vy - velocity in y-axis. Expressed in m/s.
  
  vz - velocity in z-axis. Expressed in m/s.
  
  dt - time interval to compute prediction expressed in seconds.
  
  result - instance where updated position is stored.
  
  See Also:
  
  rpredict.m at https://github.com/joansola/slamtb
- predict
  
  public static void predict(com.irurueta.geometry.InhomogeneousPoint3D r, double[] v, double dt, com.irurueta.geometry.InhomogeneousPoint3D result, com.irurueta.algebra.Matrix jacobianR, com.irurueta.algebra.Matrix jacobianV, com.irurueta.algebra.Matrix jacobianA)
  
  Predicts the updated position assuming no acceleration.
  Parameters:
  
  r - point containing current position in 3D. Expressed in meters.
  
  v - array containing 3 components of velocity. Expressed in m/s. Must have length 3.
  
  dt - time interval to compute prediction expressed in seconds.
  
  result - instance where updated position is stored.
  
  jacobianR - jacobian wrt position. Must be 3x3.
  
  jacobianV - jacobian wrt speed. Must be 3x3.
  
  jacobianA - jacobian wrt acceleration. Must be 3x3.
  
  Throws:
  
  IllegalArgumentException - if any of provided jacobians does not have proper size of velocity does not have length 3.
  
  See Also:
  
  rpredict.m at https://github.com/joansola/slamtb
- predict
  
  public static void predict(com.irurueta.geometry.InhomogeneousPoint3D r, double[] v, double dt, com.irurueta.geometry.InhomogeneousPoint3D result)
  
  Predicts the updated position assuming no acceleration.
  Parameters:
  
  r - point containing current position in 3D. Expressed in meters.
  
  v - array containing 3 components of velocity. Expressed in m/s. Must have length 3.
  
  dt - time interval to compute prediction expressed in seconds.
  
  result - instance where updated position is stored.
  
  Throws:
  
  IllegalArgumentException - if velocity array does not have length 3.
  
  See Also:
  
  rpredict.m at https://github.com/joansola/slamtb
- predict
  
  public static com.irurueta.geometry.InhomogeneousPoint3D predict(com.irurueta.geometry.InhomogeneousPoint3D r, double vx, double vy, double vz, double ax, double ay, double az, double dt, com.irurueta.algebra.Matrix jacobianR, com.irurueta.algebra.Matrix jacobianV, com.irurueta.algebra.Matrix jacobianA)
  
  Predicts the updated position
  Parameters:
  
  r - current position. Expressed in meters.
  
  vx - velocity in x-axis. Expressed in m/s.
  
  vy - velocity in y-axis. Expressed in m/s.
  
  vz - velocity in z-axis. Expressed in m/s.
  
  ax - acceleration in x-axis. Expressed in m/s^2.
  
  ay - acceleration in y-axis. Expressed in m/s^2.
  
  az - acceleration in z-axis. Expressed in m/s^2.
  
  dt - time interval to compute prediction expressed in seconds.
  
  jacobianR - jacobian wrt position. Must be 3x3.
  
  jacobianV - jacobian wrt speed. Must be 3x3.
  
  jacobianA - jacobian wrt acceleration. Must be 3x3.
  
  Returns:
  
  a new instance containing the updated position.
  
  Throws:
  
  IllegalArgumentException - if any of provided jacobians does not have proper size.
  
  See Also:
  
  rpredict.m at https://github.com/joansola/slamtb
- predict
  
  public static com.irurueta.geometry.InhomogeneousPoint3D predict(com.irurueta.geometry.InhomogeneousPoint3D r, double vx, double vy, double vz, double ax, double ay, double az, double dt)
  
  Predicts the updated position.
  Parameters:
  
  r - current position. Expressed in meters.
  
  vx - velocity in x-axis. Expressed in m/s.
  
  vy - velocity in y-axis. Expressed in m/s.
  
  vz - velocity in z-axis. Expressed in m/s.
  
  ax - acceleration in x-axis. Expressed in m/s^2.
  
  ay - acceleration in y-axis. Expressed in m/s^2.
  
  az - acceleration in z-axis. Expressed in m/s^2.
  
  dt - time interval to compute prediction expressed in seconds.
  
  Returns:
  
  a new instance containing the updated position.
  
  See Also:
  
  rpredict.m at https://github.com/joansola/slamtb
- predict
  
  public static com.irurueta.geometry.InhomogeneousPoint3D predict(com.irurueta.geometry.InhomogeneousPoint3D r, double[] v, double[] a, double dt, com.irurueta.algebra.Matrix jacobianR, com.irurueta.algebra.Matrix jacobianV, com.irurueta.algebra.Matrix jacobianA)
  
  Predicts the updated position.
  Parameters:
  
  r - point containing current position in 3D. Expressed in meters.
  
  v - array containing 3 components of velocity. Expressed in m/s. Must have length 3.
  
  a - array containing 3 components of acceleration. Expressed in m/s^2. Must have length 3.
  
  dt - time interval to compute prediction expressed in seconds.
  
  jacobianR - jacobian wrt position. Must be 3x3.
  
  jacobianV - jacobian wrt speed. Must be 3x3.
  
  jacobianA - jacobian wrt acceleration. Must be 3x3.
  
  Returns:
  
  a new instance containing the updated position.
  
  Throws:
  
  IllegalArgumentException - if any of provided jacobians does not have proper size.
  
  See Also:
  
  rpredict.m at https://github.com/joansola/slamtb
- predict
  
  public static com.irurueta.geometry.InhomogeneousPoint3D predict(com.irurueta.geometry.InhomogeneousPoint3D r, double[] v, double[] a, double dt)
  
  Predicts the updated position.
  Parameters:
  
  r - point containing current position in 3D. Expressed in meters.
  
  v - array containing 3 components of velocity. Expressed in m/s. Must have length 3.
  
  a - array containing 3 components of acceleration. Expressed in m/s^2. Must have length 3.
  
  dt - time interval to compute prediction expressed in seconds.
  
  Returns:
  
  a new instance containing the updated position.
  
  See Also:
  
  rpredict.m at https://github.com/joansola/slamtb
- predict
  
  public static com.irurueta.geometry.InhomogeneousPoint3D predict(com.irurueta.geometry.InhomogeneousPoint3D r, double vx, double vy, double vz, double dt, com.irurueta.algebra.Matrix jacobianR, com.irurueta.algebra.Matrix jacobianV, com.irurueta.algebra.Matrix jacobianA)
  
  Predicts the updated position assuming no acceleration.
  Parameters:
  
  r - current position. Expressed in meters.
  
  vx - velocity in x-axis. Expressed in m/s.
  
  vy - velocity in y-axis. Expressed in m/s.
  
  vz - velocity in z-axis. Expressed in m/s.
  
  dt - time interval to compute prediction expressed in seconds.
  
  jacobianR - jacobian wrt position. Must be 3x3.
  
  jacobianV - jacobian wrt speed. Must be 3x3.
  
  jacobianA - jacobian wrt acceleration. Must be 3x3.
  
  Returns:
  
  a new instance containing the updated position.
  
  Throws:
  
  IllegalArgumentException - if any of provided jacobians does not have proper size.
  
  See Also:
  
  rpredict.m at https://github.com/joansola/slamtb
- predict
  
  public static com.irurueta.geometry.InhomogeneousPoint3D predict(com.irurueta.geometry.InhomogeneousPoint3D r, double vx, double vy, double vz, double dt)
  
  Predicts the updated position assuming no acceleration.
  Parameters:
  
  r - current position. Expressed in meters.
  
  vx - velocity in x-axis. Expressed in m/s.
  
  vy - velocity in y-axis. Expressed in m/s.
  
  vz - velocity in z-axis. Expressed in m/s.
  
  dt - time interval to compute prediction expressed in seconds.
  
  Returns:
  
  a new instance containing the updated position.
  
  See Also:
  
  rpredict.m at https://github.com/joansola/slamtb
- predict
  
  public static com.irurueta.geometry.InhomogeneousPoint3D predict(com.irurueta.geometry.InhomogeneousPoint3D r, double[] v, double dt, com.irurueta.algebra.Matrix jacobianR, com.irurueta.algebra.Matrix jacobianV, com.irurueta.algebra.Matrix jacobianA)
  
  Predicts the updated position assuming no acceleration.
  Parameters:
  
  r - current position. Expressed in meters.
  
  v - array containing 3 components of velocity. Expressed in m/s. Must have length 3.
  
  dt - time interval to compute prediction expressed in seconds.
  
  jacobianR - jacobian wrt position. Must be 3x3.
  
  jacobianV - jacobian wrt speed. Must be 3x3.
  
  jacobianA - jacobian wrt acceleration. Must be 3x3.
  
  Returns:
  
  a new instance containing the updated position.
  
  Throws:
  
  IllegalArgumentException - if any of provided jacobians does not have proper size of velocity does not have length 3.
  
  See Also:
  
  rpredict.m at https://github.com/joansola/slamtb
- predict
  
  public static com.irurueta.geometry.InhomogeneousPoint3D predict(com.irurueta.geometry.InhomogeneousPoint3D r, double[] v, double dt)
  
  Predicts the updated position assuming no acceleration.
  Parameters:
  
  r - current position. Expressed in meters.
  
  v - array containing 3 components of velocity. Expressed in m/s. Must have length 3.
  
  dt - time interval to compute prediction expressed in seconds.
  
  Returns:
  
  a new instance containing the updated position.
  
  Throws:
  
  IllegalArgumentException - if size of v array is not 3.
  
  See Also:
  
  rpredict.m at https://github.com/joansola/slamtb
- predictWithPositionAdjustment
  
  public static void predictWithPositionAdjustment(com.irurueta.geometry.InhomogeneousPoint3D r, double drx, double dry, double drz, double vx, double vy, double vz, double ax, double ay, double az, double dt, com.irurueta.geometry.InhomogeneousPoint3D result, com.irurueta.algebra.Matrix jacobianR, com.irurueta.algebra.Matrix jacobianDR, com.irurueta.algebra.Matrix jacobianV, com.irurueta.algebra.Matrix jacobianA)
  
  Predicts the updated position by using provided position variation, current speed and current acceleration.
  
  Parameters:
  
  r - current position. Expressed in meters.
  
  drx - adjustment of position in x-axis. Expressed in meters.
  
  dry - adjustment of position in y-axis. Expressed in meters.
  
  drz - adjustment of position in z-axis. Expressed in meters.
  
  vx - velocity in x-axis. Expressed in m/s.
  
  vy - velocity in y-axis. Expressed in m/s.
  
  vz - velocity in z-axis. Expressed in m/s.
  
  ax - acceleration in x-axis. Expressed in m/s^2.
  
  ay - acceleration in y-axis. Expressed in m/s^2.
  
  az - acceleration in z-axis. Expressed in m/s^2.
  
  dt - time interval to compute prediction expressed in seconds.
  
  result - instance where updated position is stored.
  
  jacobianR - jacobian wrt position. Must be 3x3.
  
  jacobianDR - jacobian wrt position adjustment. Must be 3x3.
  
  jacobianV - jacobian wrt speed. Must be 3c3.
  
  jacobianA - jacobian wrt acceleration. Must be 3x3.
  
  Throws:
  
  IllegalArgumentException - if any of provided jacobians does not have proper size.
- predictWithPositionAdjustment
  
  public static void predictWithPositionAdjustment(com.irurueta.geometry.InhomogeneousPoint3D r, double drx, double dry, double drz, double vx, double vy, double vz, double ax, double ay, double az, double dt, com.irurueta.geometry.InhomogeneousPoint3D result)
  
  Predicts the updated position by using provided position variation, current speed and current acceleration.
  
  Parameters:
  
  r - current position. Expressed in meters.
  
  drx - adjustment of position in x-axis. Expressed in meters.
  
  dry - adjustment of position in y-axis. Expressed in meters.
  
  drz - adjustment of position in z-axis. Expressed in meters.
  
  vx - velocity in x-axis. Expressed in m/s.
  
  vy - velocity in y-axis. Expressed in m/s.
  
  vz - velocity in z-axis. Expressed in m/s.
  
  ax - acceleration in x-axis. Expressed in m/s^2.
  
  ay - acceleration in y-axis. Expressed in m/s^2.
  
  az - acceleration in z-axis. Expressed in m/s^2.
  
  dt - time interval to compute prediction expressed in seconds.
  
  result - instance where updated position is stored.
- predictWithPositionAdjustment
  
  public static void predictWithPositionAdjustment(com.irurueta.geometry.InhomogeneousPoint3D r, double[] dr, double[] v, double[] a, double dt, com.irurueta.geometry.InhomogeneousPoint3D result, com.irurueta.algebra.Matrix jacobianR, com.irurueta.algebra.Matrix jacobianDR, com.irurueta.algebra.Matrix jacobianV, com.irurueta.algebra.Matrix jacobianA)
  
  Predicts the updated position by using provided position variation, current speed and current acceleration.
  
  Parameters:
  
  r - current position. Expressed in meters.
  
  dr - adjustment of position (x, y, z). Must have length 3.
  
  v - array containing 3 components of velocity. Expressed in m/s. Must have length 3.
  
  a - array containing 3 components of acceleration. Expressed in m/s^2. Must have length 3.
  
  dt - time interval to compute prediction expressed in seconds.
  
  result - instance where updated position is stored.
  
  jacobianR - jacobian wrt position. Must be 3x3.
  
  jacobianDR - jacobian wrt position adjustment. Must be 3x3.
  
  jacobianV - jacobian wrt speed. Must be 3x3.
  
  jacobianA - jacobian wrt acceleration. Must be 3x3.
  
  Throws:
  
  IllegalArgumentException - if any of provided jacobians does not have proper size or dr, v or a do not have length 3.
- predictWithPositionAdjustment
  
  public static void predictWithPositionAdjustment(com.irurueta.geometry.InhomogeneousPoint3D r, double[] dr, double[] v, double[] a, double dt, com.irurueta.geometry.InhomogeneousPoint3D result)
  
  Predicts the updated position.
  
  Parameters:
  
  r - point containing current position in 3D. Expressed in meters.
  
  dr - adjustment of position (x, y, z). Must have length 3.
  
  v - array containing 3 components of velocity. Expressed in m/s. Must have length 3.
  
  a - array containing 3 components of acceleration. Expressed in m/s^2. Must have length 3.
  
  dt - time interval to compute prediction expressed in seconds.
  
  result - instance where updated position is stored.
  
  Throws:
  
  IllegalArgumentException - if dr, v or a do not have length 3.
- predictWithPositionAdjustment
  
  public static com.irurueta.geometry.InhomogeneousPoint3D predictWithPositionAdjustment(com.irurueta.geometry.InhomogeneousPoint3D r, double drx, double dry, double drz, double vx, double vy, double vz, double ax, double ay, double az, double dt, com.irurueta.algebra.Matrix jacobianR, com.irurueta.algebra.Matrix jacobianDR, com.irurueta.algebra.Matrix jacobianV, com.irurueta.algebra.Matrix jacobianA)
  
  Predicts the updated position by using provided position variation, current speed and current acceleration.
  
  Parameters:
  
  r - current position. Expressed in meters.
  
  drx - adjustment of position in x-axis. Expressed in meters.
  
  dry - adjustment of position in y-axis. Expressed in meters.
  
  drz - adjustment of position in z-axis. Expressed in meters.
  
  vx - velocity in x-axis. Expressed in m/s.
  
  vy - velocity in y-axis. Expressed in m/s.
  
  vz - velocity in z-axis. Expressed in m/s.
  
  ax - acceleration in x-axis. Expressed in m/s^2.
  
  ay - acceleration in y-axis. Expressed in m/s^2.
  
  az - acceleration in z-axis. Expressed in m/s^2.
  
  dt - time interval to compute prediction expressed in seconds.
  
  jacobianR - jacobian wrt position. Must be 3x3.
  
  jacobianDR - jacobian wrt position adjustment. Must be 3x3.
  
  jacobianV - jacobian wrt speed. Must be 3c3.
  
  jacobianA - jacobian wrt acceleration. Must be 3x3.
  
  Returns:
  
  a new updated position.
  
  Throws:
  
  IllegalArgumentException - if any of provided jacobians does not have proper size.
- predictWithPositionAdjustment
  
  public static com.irurueta.geometry.InhomogeneousPoint3D predictWithPositionAdjustment(com.irurueta.geometry.InhomogeneousPoint3D r, double drx, double dry, double drz, double vx, double vy, double vz, double ax, double ay, double az, double dt)
  
  Predicts the updated position by using provided position variation, current speed and current acceleration.
  
  Parameters:
  
  r - current position. Expressed in meters.
  
  drx - adjustment of position in x-axis. Expressed in meters.
  
  dry - adjustment of position in y-axis. Expressed in meters.
  
  drz - adjustment of position in z-axis. Expressed in meters.
  
  vx - velocity in x-axis. Expressed in m/s.
  
  vy - velocity in y-axis. Expressed in m/s.
  
  vz - velocity in z-axis. Expressed in m/s.
  
  ax - acceleration in x-axis. Expressed in m/s^2.
  
  ay - acceleration in y-axis. Expressed in m/s^2.
  
  az - acceleration in z-axis. Expressed in m/s^2.
  
  dt - time interval to compute prediction expressed in seconds.
  
  Returns:
  
  a new updated position.
- predictWithPositionAdjustment
  
  public static com.irurueta.geometry.InhomogeneousPoint3D predictWithPositionAdjustment(com.irurueta.geometry.InhomogeneousPoint3D r, double[] dr, double[] v, double[] a, double dt, com.irurueta.algebra.Matrix jacobianR, com.irurueta.algebra.Matrix jacobianDR, com.irurueta.algebra.Matrix jacobianV, com.irurueta.algebra.Matrix jacobianA)
  
  Predicts the updated position by using provided position variation, current speed and current acceleration.
  
  Parameters:
  
  r - current position. Expressed in meters.
  
  dr - adjustment of position (x, y, z). Must have length 3.
  
  v - array containing 3 components of velocity. Expressed in m/s. Must have length 3.
  
  a - array containing 3 components of acceleration. Expressed in m/s^2. Must have length 3.
  
  dt - time interval to compute prediction expressed in seconds.
  
  jacobianR - jacobian wrt position. Must be 3x3.
  
  jacobianDR - jacobian wrt position adjustment. Must be 3x3.
  
  jacobianV - jacobian wrt speed. Must be 3x3.
  
  jacobianA - jacobian wrt acceleration. Must be 3x3.
  
  Returns:
  
  a new updated position.
  
  Throws:
  
  IllegalArgumentException - if any of provided jacobians does not have proper size or dr, v or a do not have length 3.
- predictWithPositionAdjustment
  
  public static com.irurueta.geometry.InhomogeneousPoint3D predictWithPositionAdjustment(com.irurueta.geometry.InhomogeneousPoint3D r, double[] dr, double[] v, double[] a, double dt)
  
  Predicts the updated position.
  
  Parameters:
  
  r - point containing current position in 3D. Expressed in meters.
  
  dr - adjustment of position (x, y, z). Must have length 3.
  
  v - array containing 3 components of velocity. Expressed in m/s. Must have length 3.
  
  a - array containing 3 components of acceleration. Expressed in m/s^2. Must have length 3.
  
  dt - time interval to compute prediction expressed in seconds.
  
  Returns:
  
  a new updated position.

Class PositionPredictor

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Details

SPEED_COMPONENTS

ACCELERATION_COMPONENTS

Constructor Details

PositionPredictor

Method Details

predict

predict

predict

predict

predict

predict

predict

predict

predict

predict

predict

predict

predict

predict

predict

predict

predictWithPositionAdjustment

predictWithPositionAdjustment

predictWithPositionAdjustment

predictWithPositionAdjustment

predictWithPositionAdjustment

predictWithPositionAdjustment

predictWithPositionAdjustment

predictWithPositionAdjustment