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00001 /************************************************************************ 00002 * Copyright (C) 2012 Eindhoven University of Technology (TU/e). * 00003 * All rights reserved. * 00004 ************************************************************************ 00005 * Redistribution and use in source and binary forms, with or without * 00006 * modification, are permitted provided that the following conditions * 00007 * are met: * 00008 * * 00009 * 1. Redistributions of source code must retain the above * 00010 * copyright notice, this list of conditions and the following * 00011 * disclaimer. * 00012 * * 00013 * 2. 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 * 00016 * provided with the distribution. * 00017 * * 00018 * THIS SOFTWARE IS PROVIDED BY TU/e "AS IS" AND ANY EXPRESS OR * 00019 * IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * 00020 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE * 00021 * ARE DISCLAIMED. IN NO EVENT SHALL TU/e OR CONTRIBUTORS BE LIABLE * 00022 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR * 00023 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT * 00024 * OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; * 00025 * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF * 00026 * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * 00027 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE * 00028 * USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH * 00029 * DAMAGE. * 00030 * * 00031 * The views and conclusions contained in the software and * 00032 * documentation are those of the authors and should not be * 00033 * interpreted as representing official policies, either expressed or * 00034 * implied, of TU/e. * 00035 ************************************************************************/ 00036 00037 #include "DiscreteFilter.h" 00038 00039 int DiscreteFilter::N_DISCRETEKALMAN_FILTER = 0; 00040 00041 DiscreteFilter::DiscreteFilter() { 00042 ++N_DISCRETEKALMAN_FILTER; 00043 } 00044 00045 DiscreteFilter::DiscreteFilter(const DiscreteFilter& orig) : IStateEstimator(orig), pmf_(orig.pmf_) { 00046 ++N_DISCRETEKALMAN_FILTER; 00047 } 00048 00049 DiscreteFilter::~DiscreteFilter() { 00050 --N_DISCRETEKALMAN_FILTER; 00051 } 00052 00053 DiscreteFilter* DiscreteFilter::clone() const { 00054 return new DiscreteFilter(*this); 00055 } 00056 00057 void DiscreteFilter::propagate(const mhf::Time& time) { 00058 } 00059 00060 void DiscreteFilter::update(const pbl::PDF& z, const mhf::Time& time) { 00061 assert(z.type() == pbl::PDF::DISCRETE); 00062 const pbl::PMF* pmf = pbl::PDFtoPMF(z); 00063 pmf_.update(*pmf); 00064 } 00065 00066 void DiscreteFilter::reset() { 00067 pmf_ = pbl::PMF(); 00068 } 00069 00070 const pbl::PDF& DiscreteFilter::getValue() const { 00071 return pmf_; 00072 } 00073 00074 #include <pluginlib/class_list_macros.h> 00075 PLUGINLIB_DECLARE_CLASS( wire_state_estimators, DiscreteEstimator, DiscreteFilter, mhf::IStateEstimator )