00001 /* 00002 * NonLinearRevoluteMeasurementPdf.h 00003 * 00004 * Author: roberto 00005 * 00006 * This is a modified implementation of the method for online estimation of kinematic structures described in our paper 00007 * "Online Interactive Perception of Articulated Objects with Multi-Level Recursive Estimation Based on Task-Specific Priors" 00008 * (Martín-Martín and Brock, 2014). 00009 * This implementation can be used to reproduce the results of the paper and to be applied to new research. 00010 * The implementation allows also to be extended to perceive different information/models or to use additional sources of information. 00011 * A detail explanation of the method and the system can be found in our paper. 00012 * 00013 * If you are using this implementation in your research, please consider citing our work: 00014 * 00015 @inproceedings{martinmartin_ip_iros_2014, 00016 Title = {Online Interactive Perception of Articulated Objects with Multi-Level Recursive Estimation Based on Task-Specific Priors}, 00017 Author = {Roberto {Mart\'in-Mart\'in} and Oliver Brock}, 00018 Booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems}, 00019 Pages = {2494-2501}, 00020 Year = {2014}, 00021 Location = {Chicago, Illinois, USA}, 00022 Note = {http://www.robotics.tu-berlin.de/fileadmin/fg170/Publikationen_pdf/martinmartin_ip_iros_2014.pdf}, 00023 Url = {http://www.robotics.tu-berlin.de/fileadmin/fg170/Publikationen_pdf/martinmartin_ip_iros_2014.pdf}, 00024 Projectname = {Interactive Perception} 00025 } 00026 * If you have questions or suggestions, contact us: 00027 * roberto.martinmartin@tu-berlin.de 00028 * 00029 * Enjoy! 00030 */ 00031 00032 #ifndef NONLINEARREVOLUTEMEASUREMENTPDF_H_ 00033 #define NONLINEARREVOLUTEMEASUREMENTPDF_H_ 00034 00035 #include <pdf/analyticconditionalgaussian_additivenoise.h> 00036 #include <pdf/gaussian.h> 00037 00038 namespace BFL 00039 { 00040 class NonLinearRevoluteMeasurementPdf : public AnalyticConditionalGaussianAdditiveNoise 00041 { 00042 public: 00043 00047 NonLinearRevoluteMeasurementPdf(const Gaussian& additiveNoise); 00048 00052 virtual ~NonLinearRevoluteMeasurementPdf(); 00053 00060 virtual MatrixWrapper::ColumnVector ExpectedValueGet() const; 00061 00068 virtual MatrixWrapper::Matrix dfGet(unsigned int i) const; 00069 00070 private: 00071 mutable MatrixWrapper::Matrix dfx; 00072 00073 }; 00074 } 00075 00076 #endif /* NONLINEARREVOLUTEMEASUREMENTPDF_H_ */