gaussian_pos_vel.cpp

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/* Author: Wim Meeussen */


#include "cob_people_tracking_filter/gaussian_pos_vel.h"
#include <wrappers/rng/rng.h>
#include <cmath> 
#include <cassert>

using namespace tf;

namespace BFL
{
  GaussianPosVel::GaussianPosVel (const StatePosVel& mu, const StatePosVel& sigma)
    : Pdf<StatePosVel> ( 1 ),
      mu_(mu),
      sigma_(sigma),
      gauss_pos_(mu.pos_, sigma.pos_),
      gauss_vel_(mu.vel_, sigma.vel_)
  {}


  GaussianPosVel::~GaussianPosVel(){}

  GaussianPosVel* GaussianPosVel::Clone() const
  {
    return new GaussianPosVel(mu_, sigma_);
  }

  std::ostream& operator<< (std::ostream& os, const GaussianPosVel& g)
  {
    os << "\nMu pos :\n"    << g.ExpectedValueGet().pos_ << endl
       << "\nMu vel :\n"    << g.ExpectedValueGet().vel_ << endl 
       << "\nSigma:\n" << g.CovarianceGet() << endl;
    return os;
  }


  Probability GaussianPosVel::ProbabilityGet(const StatePosVel& input) const
  {
    return gauss_pos_.ProbabilityGet(input.pos_) * gauss_vel_.ProbabilityGet(input.vel_);
  }


  bool
  GaussianPosVel::SampleFrom (vector<Sample<StatePosVel> >& list_samples, const int num_samples, int method, void * args) const
  {
    list_samples.resize(num_samples);
    vector<Sample<StatePosVel> >::iterator sample_it = list_samples.begin();
    for (sample_it=list_samples.begin(); sample_it!=list_samples.end(); sample_it++)
      SampleFrom( *sample_it, method, args);

    return true;
  }


  bool
  GaussianPosVel::SampleFrom (Sample<StatePosVel>& one_sample, int method, void * args) const
  {
    one_sample.ValueSet( StatePosVel(Vector3(rnorm(mu_.pos_[0], sigma_.pos_[0]*dt_), 
                                             rnorm(mu_.pos_[1], sigma_.pos_[1]*dt_),
                                             rnorm(mu_.pos_[2], sigma_.pos_[2]*dt_)),
                                     Vector3(rnorm(mu_.vel_[0], sigma_.vel_[0]*dt_), 
                                             rnorm(mu_.vel_[1], sigma_.vel_[1]*dt_),
                                             rnorm(mu_.vel_[2], sigma_.vel_[2]*dt_))) );
    return true;
  }


  StatePosVel
  GaussianPosVel::ExpectedValueGet (  ) const 
  { 
    return mu_;
  }

  SymmetricMatrix
  GaussianPosVel::CovarianceGet () const
  {
    SymmetricMatrix sigma(6); sigma = 0;
    for (unsigned int i=0; i<3; i++){
      sigma(i+1,i+1) = pow(sigma_.pos_[i],2);
      sigma(i+4,i+4) = pow(sigma_.vel_[i],2);
    }
    return sigma;
  }

} // End namespace BFL