tracker_kalman.h

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/* Author: Wim Meeussen */

#ifndef __TRACKER_KALMAN__
#define __TRACKER_KALMAN__

#include "tracker.h"
//#include <cob_perception_msgs/PositionMeasurement.h>

// bayesian filtering
#include <filter/extendedkalmanfilter.h>
#include <model/linearanalyticsystemmodel_gaussianuncertainty.h>
#include <model/linearanalyticmeasurementmodel_gaussianuncertainty.h>
#include <pdf/linearanalyticconditionalgaussian.h>



#include "state_pos_vel.h"

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

// log files
#include <fstream>

namespace estimation
{

class TrackerKalman: public Tracker
{
public:
  TrackerKalman(const std::string& name, const BFL::StatePosVel& sysnoise);

  virtual ~TrackerKalman();

  virtual void initialize(const BFL::StatePosVel& mu, const BFL::StatePosVel& sigma, const double time);

  virtual bool isInitialized() const {return tracker_initialized_;};

  virtual double getQuality() const {return quality_;};

  virtual double getLifetime() const;

  virtual double getTime() const;


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

  virtual void getEstimate(BFL::StatePosVel& est) const;
  virtual void getEstimate(cob_perception_msgs::PositionMeasurement& est) const;


private:
  // pdf / model / filter
  BFL::Gaussian                                           prior_;
  BFL::ExtendedKalmanFilter*                              filter_;
  BFL::LinearAnalyticConditionalGaussian*                 sys_pdf_;
  BFL::LinearAnalyticSystemModelGaussianUncertainty*      sys_model_;
  BFL::LinearAnalyticConditionalGaussian*                 meas_pdf_;
  BFL::LinearAnalyticMeasurementModelGaussianUncertainty* meas_model_;
  MatrixWrapper::Matrix                                   sys_matrix_;
  MatrixWrapper::SymmetricMatrix                          sys_sigma_;

  double calculateQuality();

  // vars
  bool tracker_initialized_;
  double init_time_, filter_time_, quality_;


}; // class

}; // namespace

#endif