measmodel_pos.cpp

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/* Author: Wim Meeussen */
/* modified for SRS by Alex Noyvirt */

#include "srs_people_tracking_filter/measmodel_pos.h"

using namespace std;
using namespace BFL;
using namespace tf;


static const unsigned int NUM_MEASMODEL_POS_COND_ARGS   = 1;
static const unsigned int DIM_MEASMODEL_POS             = 13;



// Constructor
MeasPdfPos::MeasPdfPos(const Vector3& sigma)
  : ConditionalPdf<Vector3, StatePosVel>(DIM_MEASMODEL_POS, NUM_MEASMODEL_POS_COND_ARGS),
    meas_noise_(Vector3(0,0,0), sigma)
{}


// Destructor
MeasPdfPos::~MeasPdfPos()
{}



Probability 
MeasPdfPos::ProbabilityGet(const Vector3& measurement) const
{
  return meas_noise_.ProbabilityGet(measurement - ConditionalArgumentGet(0).pos_);
}



bool
MeasPdfPos::SampleFrom (Sample<Vector3>& one_sample, int method, void *args) const
{
  cerr << "MeasPdfPos::SampleFrom Method not applicable" << endl;
  assert(0);
  return false;
}




Vector3
MeasPdfPos::ExpectedValueGet() const
{
  cerr << "MeasPdfPos::ExpectedValueGet Method not applicable" << endl;
  Vector3 result;
  assert(0);
  return result;
}




SymmetricMatrix 
MeasPdfPos::CovarianceGet() const
{
  cerr << "MeasPdfPos::CovarianceGet Method not applicable" << endl;
  SymmetricMatrix Covar(DIM_MEASMODEL_POS);
  assert(0);
  return Covar;
}


void
MeasPdfPos::CovarianceSet(const MatrixWrapper::SymmetricMatrix& cov)
{
  tf::Vector3 cov_vec(sqrt(cov(1,1)), sqrt(cov(2,2)),sqrt(cov(3,3)));
  meas_noise_.sigmaSet(cov_vec);
}