TODO: create the geotools graph as an object during the OTP graph build? @param graph

Using the startCoord, a graph is created from an approximately 100m x 100m grid. @param startCoord @return @throws IOException @throws NoSuchAuthorit

This method returns the predictive distribution over the conditional path. Note that the prior must be converted to this path's distance and direction

The length of the node chain (inclusive). @return

Returns the velocity conditional mean and the marginal velocity variance. @param truncDistanceSmpl @return

Get the geographic CRS that this code assumes. You'll need this to match-up geo CRS between systems, so that you can afterward properly convert to euc

Converts a 2d (distance, velocity) road/path-state to it's equivalent 4d (x,y position & velocity) ground-state. @param locVelocity @param edge @para

Returns a path <B>from</B> the target <B>to</B> the source. If the desired path is the opposite (from the source to the target), the <i>reverse</i> or

This method takes a prior predictive vehicle state distribution and returns a distribution over its possible transition states, with prior predictive

This method takes a prior predictive vehicle state distribution and returns a distribution over its possible transition states, with prior predictive

This method performs the Bayes update for a single vehicle state. @param state @param obs @return

This method performs the Bayes update for a single vehicle state. @param state @param obs @return

Samples (x_{t+1} | x_t, y_{t+1}, ...) Needed for some parameter estimates. @param priorPredictiveBelief @param rng @return

Samples an observation for the given state vector (velLocBelief). Note: only the mean of the state vector is used. @param velLocBelief @param obsCov

Constructs a new path finder @param graph Graph where we will perform the search. @param source Node to calculate path from. @param

This estimator defines two dynamic linear models, or @see <a href="Kalman Filters">http://en.wikipedia.org/wiki/Kalman_filter</a>, one for