renamed from Map.m

LandmarkMap.m

@@ -0,0 +1,181 @@
+%LandmarkMap Map of planar point landmarks
+%
+% A LandmarkMap object represents a square 2D environment with a number of landmark
+% landmark points.
+%
+% Methods::
+%   plot      Plot the landmark map
+%   landmark   Return a specified map landmark
+%   display   Display map parameters in human readable form
+%   char      Convert map parameters to human readable string
+%
+% Properties::
+%   map         Matrix of map landmark coordinates 2xN
+%   dim         The dimensions of the map region x,y in [-dim,dim]
+%   nlandmarks   The number of map landmarks N
+%
+% Examples::
+%
+% To create a map for an area where X and Y are in the range -10 to +10 metres
+% and with 50 random landmark points
+%        map = LandmarkMap(50, 10);
+% which can be displayed by
+%        map.plot();
+%
+% Reference::
+%
+%   Robotics, Vision & Control, Chap 6,
+%   Peter Corke,
+%   Springer 2011
+%
+% See also RangeBearingSensor, EKF.
+
+
+% Copyright (C) 1993-2015, by Peter I. Corke
+%
+% This file is part of The Robotics Toolbox for MATLAB (RTB).
+% 
+% RTB is free software: you can redistribute it and/or modify
+% it under the terms of the GNU Lesser General Public License as published by
+% the Free Software Foundation, either version 3 of the License, or
+% (at your option) any later version.
+% 
+% RTB is distributed in the hope that it will be useful,
+% but WITHOUT ANY WARRANTY; without even the implied warranty of
+% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+% GNU Lesser General Public License for more details.
+% 
+% You should have received a copy of the GNU Leser General Public License
+% along with RTB.  If not, see <http://www.gnu.org/licenses/>.
+%
+% http://www.petercorke.com
+
+classdef LandmarkMap < handle
+% TODO:
+% add a name property, show in char()
+
+    properties
+        map    % map landmarks
+        dim         % map dimension
+        nlandmarks   % number of landmarks in map
+
+        verbose
+    end
+
+    methods
+
+        % constructor
+        function map = LandmarkMap(nlandmarks, varargin)
+        %LandmarkMap.LandmarkMap Create a map of point landmark landmarks
+        %
+        % M = LandmarkMap(N, DIM, OPTIONS) is a LandmarkMap object that represents N random point landmarks
+        % in a planar region bounded by +/-DIM in the x- and y-directions.
+        %
+        % Options::
+        % 'verbose'    Be verbose
+
+
+        %% TODO: dim can be a 4-vector
+
+            opt = [];
+            [opt,args] = tb_optparse(opt, varargin);
+            map.verbose = opt.verbose;
+
+            if ~isempty(args) && isnumeric(args{1})
+                dim = args{1};
+            else
+                dim = 10;
+            end
+            map.dim = dim;
+            map.nlandmarks = nlandmarks;
+            map.map = dim * (2*rand(2, nlandmarks)-1);
+            map.verbose = false;
+        end
+
+        function f = landmark(map, k)
+            %LandmarkMap.landmark Get landmarks from map
+            %
+            % F = M.landmark(K) is the coordinate (2x1) of the K'th landmark (landmark).
+            f = map.map(:,k);
+        end
+
+        function plot(map, varargin)
+            %LandmarkMap.plot Plot the map
+            %
+            % M.plot() plots the landmark map in the current figure, as a square
+            % region with dimensions given by the M.dim property.  Each landmark
+            % is marked by a black diamond.
+            %
+            % M.plot(LS) as above, but the arguments LS
+            % are passed to plot and override the default marker style.
+            %
+            % Notes::
+            % - The plot is left with HOLD ON.
+            clf
+            d = map.dim;
+            axis equal
+            axis([-d d -d d]);
+            xlabel('x');
+            ylabel('y');
+
+            if nargin == 1
+                args = {'kh'};
+            else
+                args = varargin;
+            end
+            h = plot(map.map(1,:)', map.map(2,:)', args{:});
+            set(h, 'Tag', 'map');
+            grid on
+            hold on
+        end
+
+        function show(map, varargin)
+        %map.SHOW Show the landmark map
+        %
+        % Notes::
+        % - Deprecated, use plot method.
+            warning('show method is deprecated, use plot() instead');
+            map.plot(varargin{:});
+        end
+
+        function verbosity(map, v)
+            %map.verbosity Set verbosity
+            %
+            % M.verbosity(V) set verbosity to V, where 0 is silent and greater
+            % values display more information.
+            map.verbose = v;
+        end
+
+        function display(map)
+            %map.display Display map parameters
+            %
+            % M.display() displays map parameters in a compact
+            % human readable form.
+            %
+            % Notes::
+            % - This method is invoked implicitly at the command line when the result
+            %   of an expression is a LandmarkMap object and the command has no trailing
+            %   semicolon.
+            %
+            % See also map.char.
+            loose = strcmp( get(0, 'FormatSpacing'), 'loose');
+            if loose
+                disp(' ');
+            end
+            disp([inputname(1), ' = '])
+            disp( char(map) );
+        end % display()
+
+        function s = char(map)
+        %map.char Convert map parameters to a string
+        %
+        % s = M.char() is a string showing map parameters in 
+        % a compact human readable format. 
+            s = 'LandmarkMap object';
+            s = char(s, sprintf('  %d landmarks', map.nlandmarks));
+            s = char(s, sprintf('  dimension %.1f', map.dim));
+        end
+
+    end % method
+
+end % classdef