00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 /* Author: Wim Meeussen */ 00036 00037 #ifndef __TRACKER__ 00038 #define __TRACKER__ 00039 00040 #include "state_pos_vel.h" 00041 #include <cob_perception_msgs/PositionMeasurement.h> 00042 #include <wrappers/matrix/matrix_wrapper.h> 00043 #include <string> 00044 00045 00046 namespace estimation 00047 { 00048 00049 class Tracker 00050 { 00051 public: 00053 Tracker(const std::string& name): name_(name) {}; 00054 00056 virtual ~Tracker() {}; 00057 00059 const std::string& getName() const {return name_;}; 00060 00062 virtual void initialize(const BFL::StatePosVel& mu, const BFL::StatePosVel& sigma, const double time) = 0; 00063 00065 virtual bool isInitialized() const = 0; 00066 00068 virtual double getQuality() const = 0; 00069 00071 virtual double getLifetime() const = 0; 00072 00074 virtual double getTime() const = 0; 00075 00077 virtual bool updatePrediction(const double time) = 0; 00078 virtual bool updateCorrection(const tf::Vector3& meas, 00079 const MatrixWrapper::SymmetricMatrix& cov) = 0; 00080 00082 virtual void getEstimate(BFL::StatePosVel& est) const = 0; 00083 virtual void getEstimate(cob_perception_msgs::PositionMeasurement& est) const = 0; 00084 00085 private: 00086 std::string name_; 00087 00088 }; // class 00089 00090 }; // namespace 00091 00092 #endif