ObservationModel.h

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// SVN $HeadURL$
// SVN $Id$

/*
 * 6D localization for humanoid robots
 *
 * Copyright 2009-2012 Armin Hornung, University of Freiburg
 * http://www.ros.org/wiki/humanoid_localization
 *
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, version 3.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */

#ifndef HUMANOID_LOCALIZATION_OBSERVATIONMODEL_H_
#define HUMANOID_LOCALIZATION_OBSERVATIONMODEL_H_

#include <limits>
#include<cmath>

#include <omp.h>

#include <ros/ros.h>
#include <tf/transform_datatypes.h>
#include <pcl_ros/transforms.h>

#include <humanoid_localization/humanoid_localization_defs.h>
#include <humanoid_localization/MapModel.h>
#include <octomap/octomap.h>

#include <sensor_msgs/PointCloud2.h>


namespace humanoid_localization{

const static double SQRT_2_PI = 2.506628274;

const static double LOG_SQRT_2_PI = 0.91893853320467274178;

class ObservationModel {
public:
  ObservationModel(ros::NodeHandle* nh, boost::shared_ptr<MapModel> mapModel, EngineT * rngEngine);
  virtual ~ObservationModel();

  static inline double logLikelihood(double x, double sigma){
    assert(!isnan(x));
    return -1.0*( LOG_SQRT_2_PI) - log(sigma) - ((x * x) / (2* sigma * sigma));
  }

  static inline double logLikelihoodSq(double x_sq, double sigma){
    assert(!isnan(x_sq));
    return -1.0*( LOG_SQRT_2_PI) - log(sigma) - ((x_sq) / (2* sigma * sigma));
  }


  //static double logLikelihoodSimple(double x, double sigma){
  //    return  -((x * x) / (2* sigma * sigma));
  //}

  virtual void integrateMeasurement(Particles& particles, const PointCloud& pc, const std::vector<float>& ranges, float max_range, const tf::Transform& baseToSensor) = 0;

  virtual void integratePoseMeasurement(Particles& particles, double roll, double pitch, const tf::StampedTransform& footprintToTorso);

  virtual void setMap(boost::shared_ptr<octomap::OcTree> map);
protected:
  virtual bool getHeightError(const Particle& p, const tf::StampedTransform& footprintToBase, double& heightError) const = 0;
  boost::shared_ptr<MapModel> m_mapModel;
  EngineT m_rngEngine;
  NormalGeneratorT m_rngNormal;
  UniformGeneratorT m_rngUniform;
  boost::shared_ptr<octomap::OcTree> m_map;
  ros::Publisher m_pc_pub;

  double m_weightRoll;
  double m_weightPitch;
  double m_weightZ;

  double m_sigmaZ;
  double m_sigmaRoll;
  double m_sigmaPitch;
  
  bool m_use_squared_error;

};
}

#endif /* OBSERVATIONMODEL_H_ */