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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 00039 #include "srs_people_tracking_filter/sysmodel_pos_vel.h" 00040 00041 00042 using namespace std; 00043 using namespace BFL; 00044 using namespace tf; 00045 00046 00047 static const unsigned int NUM_SYS_POS_VEL_COND_ARGS = 1; 00048 static const unsigned int DIM_SYS_POS_VEL = 6; 00049 00050 00051 // Constructor 00052 SysPdfPosVel::SysPdfPosVel(const StatePosVel& sigma) 00053 : ConditionalPdf<StatePosVel, StatePosVel>(DIM_SYS_POS_VEL, NUM_SYS_POS_VEL_COND_ARGS), 00054 noise_(StatePosVel(Vector3(0,0,0), Vector3(0,0,0)), sigma) 00055 {} 00056 00057 00058 00059 // Destructor 00060 SysPdfPosVel::~SysPdfPosVel() 00061 {} 00062 00063 00064 00065 Probability 00066 SysPdfPosVel::ProbabilityGet(const StatePosVel& state) const 00067 { 00068 cerr << "SysPdfPosVel::ProbabilityGet Method not applicable" << endl; 00069 assert(0); 00070 return 0; 00071 } 00072 00073 00074 bool 00075 SysPdfPosVel::SampleFrom (Sample<StatePosVel>& one_sample, int method, void *args) const 00076 { 00077 StatePosVel& res = one_sample.ValueGet(); 00078 00079 // get conditional argument: state 00080 res = this->ConditionalArgumentGet(0); 00081 00082 // apply system model 00083 res.pos_ += (res.vel_ * dt_); 00084 00085 // add noise 00086 Sample<StatePosVel> noise_sample; 00087 noise_.SetDt(dt_); 00088 noise_.SampleFrom(noise_sample, method, args); 00089 res += noise_sample.ValueGet(); 00090 00091 return true; 00092 } 00093 00094 00095 StatePosVel 00096 SysPdfPosVel::ExpectedValueGet() const 00097 { 00098 cerr << "SysPdfPosVel::ExpectedValueGet Method not applicable" << endl; 00099 assert(0); 00100 return StatePosVel(); 00101 00102 } 00103 00104 SymmetricMatrix 00105 SysPdfPosVel::CovarianceGet() const 00106 { 00107 cerr << "SysPdfPosVel::CovarianceGet Method not applicable" << endl; 00108 SymmetricMatrix Covar(DIM_SYS_POS_VEL); 00109 assert(0); 00110 return Covar; 00111 } 00112