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 00037 #ifndef GAUSSIAN_VECTOR_H 00038 #define GAUSSIAN_VECTOR_H 00039 00040 #include <pdf/pdf.h> 00041 #include <tf/tf.h> 00042 00043 00044 00045 namespace BFL 00046 { 00048 class GaussianVector: public Pdf<tf::Vector3> 00049 { 00050 private: 00051 tf::Vector3 mu_, sigma_; 00052 mutable double sqrt_; 00053 mutable tf::Vector3 sigma_sq_; 00054 mutable bool sigma_changed_; 00055 00056 public: 00058 GaussianVector (const tf::Vector3& mu, const tf::Vector3& sigma); 00059 00061 virtual ~GaussianVector(); 00062 00064 friend std::ostream& operator<< (std::ostream& os, const GaussianVector& g); 00065 00066 void sigmaSet( const tf::Vector3& sigma ); 00067 00068 // Redefinition of pure virtuals 00069 virtual Probability ProbabilityGet(const tf::Vector3& input) const; 00070 bool SampleFrom (vector<Sample<tf::Vector3> >& list_samples, const int num_samples, int method=DEFAULT, void * args=NULL) const; 00071 virtual bool SampleFrom (Sample<tf::Vector3>& one_sample, int method=DEFAULT, void * args=NULL) const; 00072 00073 virtual tf::Vector3 ExpectedValueGet() const; 00074 virtual MatrixWrapper::SymmetricMatrix CovarianceGet() const; 00075 00076 virtual GaussianVector* Clone() const; 00077 }; 00078 00079 } // end namespace 00080 #endif