srs_people_tracking_filter: gaussian_pos

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00034 
00035 /* Author: Wim Meeussen */
00036 /* Modified by Alex Noyvirt for SRS */
00037 
00038 
00039 #include "srs_people_tracking_filter/gaussian_pos_vel.h"
00040 #include <wrappers/rng/rng.h>
00041 #include <cmath> 
00042 #include <cassert>
00043 
00044 using namespace tf;
00045 
00046 namespace BFL
00047 {
00048   GaussianPosVel::GaussianPosVel (const StatePosVel& mu, const StatePosVel& sigma)
00049     : Pdf<StatePosVel> ( 1 ),
00050       mu_(mu),
00051       sigma_(sigma),
00052       gauss_pos_(mu.pos_, sigma.pos_),
00053       gauss_vel_(mu.vel_, sigma.vel_)
00054   {}
00055 
00056 
00057   GaussianPosVel::~GaussianPosVel(){}
00058 
00059   GaussianPosVel* GaussianPosVel::Clone() const
00060   {
00061     return new GaussianPosVel(mu_, sigma_);
00062   }
00063 
00064   std::ostream& operator<< (std::ostream& os, const GaussianPosVel& g)
00065   {
00066     os << "\nMu pos :\n"    << g.ExpectedValueGet().pos_ << endl
00067        << "\nMu vel :\n"    << g.ExpectedValueGet().vel_ << endl 
00068        << "\nSigma:\n" << g.CovarianceGet() << endl;
00069     return os;
00070   }
00071 
00072 
00073   Probability GaussianPosVel::ProbabilityGet(const StatePosVel& input) const
00074   {
00075     return gauss_pos_.ProbabilityGet(input.pos_) * gauss_vel_.ProbabilityGet(input.vel_);
00076   }
00077 
00078 
00079   bool
00080   GaussianPosVel::SampleFrom (vector<Sample<StatePosVel> >& list_samples, const int num_samples, int method, void * args) const
00081   {
00082     list_samples.resize(num_samples);
00083     vector<Sample<StatePosVel> >::iterator sample_it = list_samples.begin();
00084     for (sample_it=list_samples.begin(); sample_it!=list_samples.end(); sample_it++)
00085       SampleFrom( *sample_it, method, args);
00086 
00087     return true;
00088   }
00089 
00090 
00091   bool
00092   GaussianPosVel::SampleFrom (Sample<StatePosVel>& one_sample, int method, void * args) const
00093   {
00094     one_sample.ValueSet( StatePosVel(Vector3(rnorm(mu_.pos_[0], sigma_.pos_[0]*dt_), 
00095                                              rnorm(mu_.pos_[1], sigma_.pos_[1]*dt_),
00096                                              rnorm(mu_.pos_[2], sigma_.pos_[2]*dt_)),
00097                                      Vector3(rnorm(mu_.vel_[0], sigma_.vel_[0]*dt_), 
00098                                              rnorm(mu_.vel_[1], sigma_.vel_[1]*dt_),
00099                                              rnorm(mu_.vel_[2], sigma_.vel_[2]*dt_))) );
00100     return true;
00101   }
00102 
00103 
00104   StatePosVel
00105   GaussianPosVel::ExpectedValueGet (  ) const 
00106   { 
00107     return mu_;
00108   }
00109 
00110   SymmetricMatrix
00111   GaussianPosVel::CovarianceGet () const
00112   {
00113     SymmetricMatrix sigma(6); sigma = 0;
00114     for (unsigned int i=0; i<3; i++){
00115       sigma(i+1,i+1) = pow(sigma_.pos_[i],2);
00116       sigma(i+4,i+4) = pow(sigma_.vel_[i],2);
00117     }
00118     return sigma;
00119   }
00120 
00121 } // End namespace BFL