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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 00037 #ifndef __TRACKER_PARTICLE__ 00038 #define __TRACKER_PARTICLE__ 00039 00040 #include "tracker.h" 00041 00042 // bayesian filtering 00043 #include <filter/bootstrapfilter.h> 00044 #include "state_pos_vel.h" 00045 #include "mcpdf_pos_vel.h" 00046 #include "sysmodel_pos_vel.h" 00047 #include "measmodel_pos.h" 00048 00049 // TF 00050 #include <tf/tf.h> 00051 00052 // msgs 00053 #include <sensor_msgs/PointCloud.h> 00054 00055 // log files 00056 #include <fstream> 00057 00058 namespace estimation 00059 { 00060 00061 class TrackerParticle: public Tracker 00062 { 00063 public: 00065 TrackerParticle(const std::string& name, unsigned int num_particles, const BFL::StatePosVel& sysnoise); 00066 00068 virtual ~TrackerParticle(); 00069 00071 virtual void initialize(const BFL::StatePosVel& mu, const BFL::StatePosVel& sigma, const double time); 00072 00074 virtual bool isInitialized() const {return tracker_initialized_;}; 00075 00077 virtual double getQuality() const {return quality_;}; 00078 00080 virtual double getLifetime() const; 00081 00083 virtual double getTime() const; 00084 00086 virtual bool updatePrediction(const double time); 00087 virtual bool updateCorrection(const tf::Vector3& meas, 00088 const MatrixWrapper::SymmetricMatrix& cov); 00089 00091 virtual void getEstimate(BFL::StatePosVel& est) const; 00092 virtual void getEstimate(srs_msgs::PositionMeasurement& est) const; 00093 00094 // get evenly spaced particle cloud 00095 void getParticleCloud(const tf::Vector3& step, double threshold, sensor_msgs::PointCloud& cloud) const; 00096 00098 MatrixWrapper::Matrix getHistogramPos(const tf::Vector3& min, const tf::Vector3& max, const tf::Vector3& step) const; 00099 MatrixWrapper::Matrix getHistogramVel(const tf::Vector3& min, const tf::Vector3& max, const tf::Vector3& step) const; 00100 00101 private: 00102 // pdf / model / filter 00103 BFL::MCPdfPosVel prior_; 00104 BFL::BootstrapFilter<BFL::StatePosVel, tf::Vector3>* filter_; 00105 BFL::SysModelPosVel sys_model_; 00106 BFL::MeasModelPos meas_model_; 00107 00108 // vars 00109 bool tracker_initialized_; 00110 double init_time_, filter_time_, quality_; 00111 unsigned int num_particles_; 00112 00113 00114 }; // class 00115 00116 }; // namespace 00117 00118 #endif