$search
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/uniform_vector.h" 00039 #include <wrappers/rng/rng.h> 00040 #include <cmath> 00041 #include <cassert> 00042 00043 using namespace tf; 00044 00045 namespace BFL 00046 { 00047 UniformVector::UniformVector(const Vector3& mu, const Vector3& size) 00048 : Pdf<Vector3> ( 1 ), 00049 mu_(mu), 00050 size_(size) 00051 { 00052 for (unsigned int i=0; i<3; i++) 00053 assert(size_[i] > 0); 00054 00055 probability_ = 1 / (size_[0]*2 * size_[1]*2 * size_[2]*2); 00056 } 00057 00058 00059 UniformVector::~UniformVector(){} 00060 00061 UniformVector* UniformVector::Clone() const 00062 { 00063 return new UniformVector(mu_, size_); 00064 } 00065 00066 std::ostream& operator<< (std::ostream& os, const UniformVector& g) 00067 { 00068 os << "Mu :\n" << g.ExpectedValueGet() << endl 00069 << "Size :\n" << g.CovarianceGet() << endl; 00070 return os; 00071 } 00072 00073 00074 00075 Probability UniformVector::ProbabilityGet(const Vector3& input) const 00076 { 00077 for (unsigned int i=0; i<3; i++){ 00078 if (input[i] < (mu_[0] - (size_[0]))) return 0; 00079 if (input[i] > (mu_[0] + (size_[0]))) return 0; 00080 } 00081 return probability_; 00082 } 00083 00084 00085 bool 00086 UniformVector::SampleFrom (vector<Sample<Vector3> >& list_samples, const int num_samples, int method, void * args) const 00087 { 00088 list_samples.resize(num_samples); 00089 vector<Sample<Vector3> >::iterator sample_it = list_samples.begin(); 00090 for (sample_it=list_samples.begin(); sample_it!=list_samples.end(); sample_it++) 00091 SampleFrom( *sample_it, method, args); 00092 00093 return true; 00094 } 00095 00096 00097 bool 00098 UniformVector::SampleFrom (Sample<Vector3>& one_sample, int method, void * args) const 00099 { 00100 one_sample.ValueSet( Vector3( ((runif() - 0.5) * 2 * size_[0]) + mu_[0], 00101 ((runif() - 0.5) * 2 * size_[1]) + mu_[1], 00102 ((runif() - 0.5) * 2 * size_[2]) + mu_[2])); 00103 return true; 00104 } 00105 00106 00107 Vector3 00108 UniformVector::ExpectedValueGet ( ) const 00109 { 00110 return mu_; 00111 } 00112 00113 SymmetricMatrix 00114 UniformVector::CovarianceGet () const 00115 { 00116 SymmetricMatrix sigma(3); sigma = 0; 00117 for (unsigned int i=0; i<3; i++) 00118 sigma(i+1,i+1) = pow(size_[i],2); 00119 return sigma; 00120 } 00121 00122 } // End namespace BFL