content: /**
  *    DeterministicSLAM implements SinglePositionSLAM using by returning the starting position instead of searching
  *    on it; i.e., using odometry alone.
  *
  * Copyright (C) 2014 Simon D. Levy
  *
  * This code 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.
  * 
  * This code 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 General Public License for more details.
  * 
  * You should have received a copy of the GNU Lesser General Public License 
  * along with this code.  If not, see <http://www.gnu.org/licenses/>.
  */
  
  
  package edu.wlu.cs.levy.breezyslam.algorithms;
  
  import edu.wlu.cs.levy.breezyslam.components.Position;
  import edu.wlu.cs.levy.breezyslam.components.Laser;
  
  public class DeterministicSLAM  extends SinglePositionSLAM
  {
  
      /**
      * Creates a DeterministicSLAM object.
      * @param laser a Laser object containing parameters for your Lidar equipment
      * @param map_size_pixels the size of the desired map (map is square)
      * @param map_size_meters the size of the area to be mapped, in meters
      * @return a new CoreSLAM object
      */
      public DeterministicSLAM(Laser laser, int map_size_pixels, double map_size_meters)
      {
          super(laser, map_size_pixels, map_size_meters);
      }
      
      /**
      * Returns a new position identical to the starting position. Called automatically by
      * SinglePositionSLAM::updateMapAndPointcloud()
      * @param start_pos the starting position
      */
      protected Position getNewPosition(Position start_position)
      {
          return new Position(start_position.x_mm, start_position.y_mm, start_position.theta_degrees);
      }
       
  } // DeterministicSLAM 
  