tracker_particle.h

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/* Author: Wim Meeussen */

#ifndef __TRACKER_PARTICLE__
#define __TRACKER_PARTICLE__

#include "tracker.h"

// bayesian filtering
//#include <cob_perception_msgs/PositionMeasurement.h>
#include <filter/bootstrapfilter.h>
#include "state_pos_vel.h"
#include "mcpdf_pos_vel.h"
#include "sysmodel_pos_vel.h"
#include "measmodel_pos.h"

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

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

// log files
#include <fstream>

namespace estimation
{

class TrackerParticle: public Tracker
{
public:
  TrackerParticle(const std::string& name, unsigned int num_particles, const BFL::StatePosVel& sysnoise);

  virtual ~TrackerParticle();

  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;

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

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

private:
  // pdf / model / filter
  BFL::MCPdfPosVel                                          prior_;
  BFL::BootstrapFilter<BFL::StatePosVel, tf::Vector3>*      filter_;
  BFL::SysModelPosVel                                       sys_model_;
  BFL::MeasModelPos                                         meas_model_;

  // vars
  bool tracker_initialized_;
  double init_time_, filter_time_, quality_;
  unsigned int num_particles_;


}; // class

}; // namespace

#endif