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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 for SRS by Alex Noyvirt */ 00037 00038 #include "srs_people_tracking_filter/measmodel_pos.h" 00039 00040 using namespace std; 00041 using namespace BFL; 00042 using namespace tf; 00043 00044 00045 static const unsigned int NUM_MEASMODEL_POS_COND_ARGS = 1; 00046 static const unsigned int DIM_MEASMODEL_POS = 13; 00047 00048 00049 00050 // Constructor 00051 MeasPdfPos::MeasPdfPos(const Vector3& sigma) 00052 : ConditionalPdf<Vector3, StatePosVel>(DIM_MEASMODEL_POS, NUM_MEASMODEL_POS_COND_ARGS), 00053 meas_noise_(Vector3(0,0,0), sigma) 00054 {} 00055 00056 00057 // Destructor 00058 MeasPdfPos::~MeasPdfPos() 00059 {} 00060 00061 00062 00063 Probability 00064 MeasPdfPos::ProbabilityGet(const Vector3& measurement) const 00065 { 00066 return meas_noise_.ProbabilityGet(measurement - ConditionalArgumentGet(0).pos_); 00067 } 00068 00069 00070 00071 bool 00072 MeasPdfPos::SampleFrom (Sample<Vector3>& one_sample, int method, void *args) const 00073 { 00074 cerr << "MeasPdfPos::SampleFrom Method not applicable" << endl; 00075 assert(0); 00076 return false; 00077 } 00078 00079 00080 00081 00082 Vector3 00083 MeasPdfPos::ExpectedValueGet() const 00084 { 00085 cerr << "MeasPdfPos::ExpectedValueGet Method not applicable" << endl; 00086 Vector3 result; 00087 assert(0); 00088 return result; 00089 } 00090 00091 00092 00093 00094 SymmetricMatrix 00095 MeasPdfPos::CovarianceGet() const 00096 { 00097 cerr << "MeasPdfPos::CovarianceGet Method not applicable" << endl; 00098 SymmetricMatrix Covar(DIM_MEASMODEL_POS); 00099 assert(0); 00100 return Covar; 00101 } 00102 00103 00104 void 00105 MeasPdfPos::CovarianceSet(const MatrixWrapper::SymmetricMatrix& cov) 00106 { 00107 tf::Vector3 cov_vec(sqrt(cov(1,1)), sqrt(cov(2,2)),sqrt(cov(3,3))); 00108 meas_noise_.sigmaSet(cov_vec); 00109 } 00110 00111 00112