detector_particle.h

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/* Author: Wim Meeussen */

#ifndef __DETECTOR_PARTICLE__
#define __DETECTOR_PARTICLE__

#include "tracker.h"

// bayesian filtering
#include <filter/bootstrapfilter.h>
#include "mcpdf_vector.h"
#include "measmodel_vector.h"
#include "sysmodel_vector.h"

// TF
#include <tf/tf.h>

// msgs
#include <sensor_msgs/PointCloud.h>

// log files
#include <fstream>

namespace estimation
{

class DetectorParticle
{
public:
  DetectorParticle(unsigned int num_particles);

  ~DetectorParticle();

  void initialize(const tf::Vector3& mu, const tf::Vector3& size, const double time);

  bool isInitialized() const {return detector_initialized_;};

  double getQuality() const {return quality_;};

  bool updatePrediction(const double dt);
  bool updateCorrection(const tf::Vector3& meas, 
                                const MatrixWrapper::SymmetricMatrix& cov,
                                const double time);

  void getEstimate(tf::Vector3& est) const;
  void getEstimate(cob_perception_msgs::PositionMeasurement& est) const;

  // get evenly spaced particle cloud
  void getParticleCloud(const tf::Vector3& step, double threshold, sensor_msgs::PointCloud& cloud) const;

  MatrixWrapper::Matrix getHistogram(const tf::Vector3& min, const tf::Vector3& max, const tf::Vector3& step) const;

private:
  // pdf / model / filter
  BFL::MCPdfVector                                          prior_;
  BFL::BootstrapFilter<tf::Vector3, tf::Vector3>* filter_;
  BFL::SysModelVector                                       sys_model_;
  BFL::MeasModelVector                                      meas_model_;

  // vars
  bool detector_initialized_;
  double filter_time_, quality_;
  unsigned int num_particles_;


}; // class

}; // namespace

#endif