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: Alex Noyvirt */ 00037 00038 #ifndef __TRACKER__ 00039 #define __TRACKER__ 00040 00041 #include "state_pos_vel.h" 00042 #include <srs_msgs/PositionMeasurement.h> 00043 #include <wrappers/matrix/matrix_wrapper.h> 00044 #include <string> 00045 00046 00047 namespace estimation 00048 { 00049 00050 class Tracker 00051 { 00052 public: 00054 Tracker(const std::string& name): name_(name) {}; 00055 00057 virtual ~Tracker() {}; 00058 00060 const std::string& getName() const {return name_;}; 00061 00063 virtual void initialize(const BFL::StatePosVel& mu, const BFL::StatePosVel& sigma, const double time) = 0; 00064 00066 virtual bool isInitialized() const = 0; 00067 00069 virtual double getQuality() const = 0; 00070 00072 virtual double getLifetime() const = 0; 00073 00075 virtual double getTime() const = 0; 00076 00078 virtual bool updatePrediction(const double time) = 0; 00079 virtual bool updateCorrection(const tf::Vector3& meas, 00080 const MatrixWrapper::SymmetricMatrix& cov) = 0; 00081 00083 virtual void getEstimate(BFL::StatePosVel& est) const = 0; 00084 virtual void getEstimate(srs_msgs::PositionMeasurement& est) const = 0; 00085 00086 private: 00087 std::string name_; 00088 00089 }; // class 00090 00091 }; // namespace 00092 00093 #endif