uniform_vector.cpp

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/* Author: Wim Meeussen */

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

using namespace tf;

namespace BFL
{
  UniformVector::UniformVector(const Vector3& mu, const Vector3& size)
    : Pdf<Vector3> ( 1 ),
      mu_(mu),
      size_(size)
  {
    for (unsigned int i=0; i<3; i++)
      assert(size_[i] > 0);

    probability_ = 1 / (size_[0]*2 * size_[1]*2 * size_[2]*2);
  }


  UniformVector::~UniformVector(){}

  UniformVector* UniformVector::Clone() const
  {
    return new UniformVector(mu_, size_);
  }

  std::ostream& operator<< (std::ostream& os, const UniformVector& g)
  {
    os << "Mu   :\n" << g.ExpectedValueGet() << endl
       << "Size :\n" << g.CovarianceGet() << endl;
    return os;
  }



  Probability UniformVector::ProbabilityGet(const Vector3& input) const
  {
    for (unsigned int i=0; i<3; i++){
      if (input[i] < (mu_[0] - (size_[0]))) return 0;
      if (input[i] > (mu_[0] + (size_[0]))) return 0;
    }
    return probability_;
  }


  bool
  UniformVector::SampleFrom (vector<Sample<Vector3> >& list_samples, const int num_samples, int method, void * args) const
  {
    list_samples.resize(num_samples);
    vector<Sample<Vector3> >::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
  UniformVector::SampleFrom (Sample<Vector3>& one_sample, int method, void * args) const
  {
    one_sample.ValueSet( Vector3( ((runif() - 0.5) * 2 * size_[0]) + mu_[0], 
                                      ((runif() - 0.5) * 2 * size_[1]) + mu_[1], 
                                      ((runif() - 0.5) * 2 * size_[2]) + mu_[2]));
    return true;
  }


  Vector3
  UniformVector::ExpectedValueGet (  ) const 
  { 
    return mu_;
  }

  SymmetricMatrix
  UniformVector::CovarianceGet () const
  {
    SymmetricMatrix sigma(3); sigma = 0;
    for (unsigned int i=0; i<3; i++)
      sigma(i+1,i+1) = pow(size_[i],2);
    return sigma;
  }

} // End namespace BFL