Projects a 4-d (x, y location and velocity) ground-state onto a given road, producing a road-state. <br> The magnitude of the resulting velocity can b

Get the transform to a local euclidean projection for the area that contains the given reference (lat, lon) coordinate. @param refLatLon @return

Returns the path connecting the two passed geoms and distances. XXX: assumes that from end and to start edges overlap. @param from @param distFrom @p

In-place conversion of a road-state to a ground-state (off-road). <br> The covariance matrix has the option of being "expanded". That is, instead of

In place conversion to road-state belief. @see #getRoadBeliefFromGround(MultivariateGaussian, Geometry, boolean, LineSegment, double, boolean, Vector

Returns ground-coordinate mean location @return

Transforms the observation and observation covariance to road coordinates for the given edge and path. @param obs @param path @param edge @return

<b>Attention</b>: When we're projected onto a vertex of the LineString then we can have multiple transformations. <br> More importantly, we can lose v

Create vehicle states from the nearby edges.

Converts a 2d (distance, velocity) road/path-state to it's equivalent 4d (x,y position & velocity) ground-state. <br> The covariance matrix has the op

Returns the predictive distribution for the given edge. @param roadDistribution @param edge @return

TODO FIXME associate these values with segments? Returns the matrix and offset vector for projection onto the given edge. distEnd is the distance from