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00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 /* Author: Wim Meeussen */ 00036 /* Modified by Alex Noyvirt for SRS */ 00037 00038 #include "srs_people_tracking_filter/measmodel_vector.h" 00039 00040 using namespace std; 00041 using namespace BFL; 00042 using namespace tf; 00043 00044 static const unsigned int NUM_MEASMODEL_VECTOR_COND_ARGS = 1; 00045 static const unsigned int DIM_MEASMODEL_VECTOR = 3; 00046 00047 00048 // Constructor 00049 MeasPdfVector::MeasPdfVector(const Vector3& sigma) 00050 : ConditionalPdf<Vector3, Vector3>(DIM_MEASMODEL_VECTOR, NUM_MEASMODEL_VECTOR_COND_ARGS), 00051 meas_noise_(Vector3(0,0,0), sigma) 00052 {} 00053 00054 00055 // Destructor 00056 MeasPdfVector::~MeasPdfVector() 00057 {} 00058 00059 00060 00061 Probability 00062 MeasPdfVector::ProbabilityGet(const Vector3& measurement) const 00063 { 00064 return meas_noise_.ProbabilityGet(measurement - ConditionalArgumentGet(0)); 00065 } 00066 00067 00068 00069 bool 00070 MeasPdfVector::SampleFrom (Sample<Vector3>& one_sample, int method, void *args) const 00071 { 00072 cerr << "MeasPdfVector::SampleFrom Method not applicable" << endl; 00073 assert(0); 00074 return false; 00075 } 00076 00077 00078 00079 00080 Vector3 00081 MeasPdfVector::ExpectedValueGet() const 00082 { 00083 cerr << "MeasPdfVector::ExpectedValueGet Method not applicable" << endl; 00084 Vector3 result; 00085 assert(0); 00086 return result; 00087 } 00088 00089 00090 00091 00092 SymmetricMatrix 00093 MeasPdfVector::CovarianceGet() const 00094 { 00095 cerr << "MeasPdfVector::CovarianceGet Method not applicable" << endl; 00096 SymmetricMatrix Covar(DIM_MEASMODEL_VECTOR); 00097 assert(0); 00098 return Covar; 00099 } 00100 00101 00102 void 00103 MeasPdfVector::CovarianceSet(const MatrixWrapper::SymmetricMatrix& cov) 00104 { 00105 Vector3 cov_vec(sqrt(cov(1,1)), sqrt(cov(2,2)),sqrt(cov(3,3))); 00106 meas_noise_.sigmaSet(cov_vec); 00107 } 00108 00109 00110