nonlinearanalyticconditionalgaussianodo.cpp

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// Copyright (C) 2008 Wim Meeussen <meeussen at willowgarage com>
//
// This program is free software; you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation; either version 2.1 of the License, or
// (at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
//

#include "nonlinearanalyticconditionalgaussianodo.h"
#include <bfl/wrappers/rng/rng.h> // Wrapper around several rng libraries
#define NUMCONDARGUMENTS_MOBILE 2

namespace BFL
{
using namespace MatrixWrapper;


NonLinearAnalyticConditionalGaussianOdo::NonLinearAnalyticConditionalGaussianOdo(const Gaussian& additiveNoise)
    : AnalyticConditionalGaussianAdditiveNoise(additiveNoise,NUMCONDARGUMENTS_MOBILE),
      df(6,6)
{
    // initialize df matrix
    for (unsigned int i=1; i<=6; i++)
    {
        for (unsigned int j=1; j<=6; j++)
        {
            if (i==j) df(i,j) = 1;
            else df(i,j) = 0;
        }
    }
}


NonLinearAnalyticConditionalGaussianOdo::~NonLinearAnalyticConditionalGaussianOdo(){}

ColumnVector NonLinearAnalyticConditionalGaussianOdo::ExpectedValueGet() const
{
    ColumnVector state = ConditionalArgumentGet(0);
    ColumnVector vel  = ConditionalArgumentGet(1);
    state(1) += cos(state(6)) * vel(1);
    state(2) += sin(state(6)) * vel(1);
    state(6) += vel(2);
    return state + AdditiveNoiseMuGet();
}

Matrix NonLinearAnalyticConditionalGaussianOdo::dfGet(unsigned int i) const
{
    if (i==0)//derivative to the first conditional argument (x)
    {
        double vel_trans = ConditionalArgumentGet(1)(1);
        double yaw = ConditionalArgumentGet(0)(6);

        df(1,3)=-vel_trans*sin(yaw);
        df(2,3)= vel_trans*cos(yaw);

        return df;
    }
    else
    {
        if (i >= NumConditionalArgumentsGet())
        {
            cerr << "This pdf Only has " << NumConditionalArgumentsGet() << " conditional arguments\n";
            exit(-BFL_ERRMISUSE);
        }
        else{
            cerr << "The df is not implemented for the" <<i << "th conditional argument\n";
            exit(-BFL_ERRMISUSE);
        }
    }
}

}//namespace BFL