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