detector_filter.h

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* Author: Wim Meeussen
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#ifndef DETECTOR_FILTER_H_
#define DETECTOR_FILTER_H_

#include <ros/ros.h>
#include <tf/transform_listener.h>
#include <geometry_msgs/PoseWithCovarianceStamped.h>
#include <boost/thread/mutex.hpp>

#include <filter/extendedkalmanfilter.h>
#include <model/linearanalyticsystemmodel_gaussianuncertainty.h>
#include <model/linearanalyticmeasurementmodel_gaussianuncertainty.h>
#include <pdf/linearanalyticconditionalgaussian.h>
#include <std_srvs/Empty.h>

namespace detector
{

class DetectorFilter
{
public:
  DetectorFilter();
  ~DetectorFilter();

  bool getPose(geometry_msgs::PoseWithCovarianceStamped& pose);

private:
  void poseCallback(const geometry_msgs::PoseWithCovarianceStampedConstPtr& pose);
  void initialize(const geometry_msgs::PoseWithCovarianceStamped& pose);
  void decomposeTransform(const geometry_msgs::PoseWithCovarianceStamped& pose,
                          MatrixWrapper::ColumnVector& vector);
  void composeTransform(const MatrixWrapper::ColumnVector& vector,
                        geometry_msgs::PoseWithCovarianceStamped& pose);

  bool resetState(std_srvs::Empty::Request  &req, std_srvs::Empty::Response &res );

  ros::Subscriber pose_sub_;
  ros::ServiceServer reset_srv_;
  std::string fixed_frame_;
  bool initialized_;
  tf::TransformListener tf_;

  // filter stuff
  BFL::LinearAnalyticConditionalGaussian*                 sys_pdf_;
  BFL::LinearAnalyticSystemModelGaussianUncertainty*      sys_model_;
  BFL::LinearAnalyticConditionalGaussian*                 meas_pdf_;
  BFL::LinearAnalyticMeasurementModelGaussianUncertainty* meas_model_;
  BFL::Gaussian*                                          prior_;
  BFL::ExtendedKalmanFilter*                              filter_;
  ros::Time                                               filter_time_;


};// class
}// namespace

#endif