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AIMA-Java Core Algorithms from the book Artificial Intelligence a Modern Approach 3rd Ed.

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package aima.core.robotics;

import aima.core.robotics.datatypes.IMclMove;
import aima.core.robotics.datatypes.IMclPose;
import aima.core.robotics.datatypes.IMclRangeReading;
import aima.core.robotics.datatypes.IMclVector;

/**
 * This interface defines functionality for a map of an environment for a robot (agent) to perform Monte-Carlo-Localization in.
 * 
 * @author Arno von Borries
 * @author Jan Phillip Kretzschmar
 * @author Andreas Walscheid
 *
 * @param  a pose implementing {@link IMclPose}.
 * @param  an n-1-dimensional vector implementing {@link IMclVector}, where n is the dimensionality of the environment.
 * @param  a movement (or sequence of movements) of the robot, implementing {@link IMclMove}.
 * @param  a range measurement, implementing {@link IMclRangeReading}.
 */
public interface IMclMap, V extends IMclVector, M extends IMclMove, R extends IMclRangeReading> {
	/**
	 * Generates a random valid pose on the map.
	 * @return a random valid pose on the map.
	 */
	P randomPose();
	/**
	 * Calculates the length of a ray in a direction defined by a pose.
	 * @param pose the pose from which the ray is to be cast.
	 * @return the length of the ray as a range reading.
	 */
	R rayCast(P pose);
	/**
	 * Verifies whether a pose is valid, that is inside the map boundaries and not within an obstacle.
	 * @param pose the pose which is to be evaluated.
	 * @return true if the pose is valid.
	 */
	boolean isPoseValid(P pose);
}