nonlinearanalyticconditionalgaussianmobile.cpp

Go to the documentation of this file.

// $Id: nonlinearanalyticconditionalgaussianmobile.h 5374 2005-05-06 14:57:05Z TDeLaet $
// Copyright (C) 2006  Tinne De Laet <first dot last at mech dot kuleuven dot be>
//
// This program is free software; you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation; either version 2.1 of the License, or
// (at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
//


#ifndef __NON_LINEAR_SYSTEM_CONDITIONAL_GAUSSIAN_MOBILE__
#define __NON_LINEAR_SYSTEM_CONDITIONAL_GAUSSIAN_MOBILE__

#include <pdf/analyticconditionalgaussian_additivenoise.h>

namespace BFL
{

class NonLinearAnalyticConditionalGaussianMobile : public AnalyticConditionalGaussianAdditiveNoise
{
public:

    NonLinearAnalyticConditionalGaussianMobile( const Gaussian& additiveNoise);

    virtual ~NonLinearAnalyticConditionalGaussianMobile();

    // redefine virtual functions
    virtual MatrixWrapper::ColumnVector    ExpectedValueGet() const;
    virtual MatrixWrapper::Matrix          dfGet(unsigned int i)       const;
};

} // End namespace BFL

#endif //// $Id: nonlinearanalyticconditionalgaussianmobile.cpp 5823 2005-10-27 13:43:02Z TDeLaet $
// Copyright (C) 2006  Tinne De Laet <first dot last at mech dot kuleuven dot be>
//
// This program is free software; you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation; either version 2.1 of the License, or
// (at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
//

#include "bayesian_filtering/nonlinearanalyticconditionalgaussianmobile.h"
#include <wrappers/rng/rng.h> // Wrapper around several rng
// libraries
#define NUMCONDARGUMENTS_MOBILE 2

namespace BFL
{
using namespace MatrixWrapper;


NonLinearAnalyticConditionalGaussianMobile::NonLinearAnalyticConditionalGaussianMobile(const Gaussian& additiveNoise)
    : AnalyticConditionalGaussianAdditiveNoise(additiveNoise,NUMCONDARGUMENTS_MOBILE)
{}


NonLinearAnalyticConditionalGaussianMobile::~NonLinearAnalyticConditionalGaussianMobile(){}
void angleOverflowCorrect(double& a)
{
    while ((a) >  M_PI) a -= 2*M_PI;
    while ((a) < -M_PI) a += 2*M_PI;
}
ColumnVector NonLinearAnalyticConditionalGaussianMobile::ExpectedValueGet() const
{
    // Input rot_1, trans, rot_2
    ColumnVector state = ConditionalArgumentGet(0);
    ColumnVector delta_odom  = ConditionalArgumentGet(1)+AdditiveNoiseMuGet();
    state(1) += cos(state(3)+delta_odom(1))*delta_odom(2);
    state(2) += sin(state(3)+delta_odom(1))*delta_odom(2);
    state(3) += delta_odom(1)+delta_odom(3);
    angleOverflowCorrect(state(3));
    return state;
}

Matrix NonLinearAnalyticConditionalGaussianMobile::dfGet(unsigned int i) const
{
    if (i==0)//derivative to the second conditional argument (u)
    {
        ColumnVector state = ConditionalArgumentGet(0);
        ColumnVector delta_odom = ConditionalArgumentGet(1);
        //std::cout << "state:"<< state << std::endl;

        Matrix df(3,3);
//        df(1,1)=-sin(state(3)+delta_odom(1))*delta_odom(2);
//        df(1,2)=cos(state(3)+delta_odom(1));
//        df(2,2)=0;

//        df(2,1)=cos(state(3)+delta_odom(1))*delta_odom(2);
//        df(2,2)=sin(state(3)+delta_odom(1));
//        df(2,3)=0;

//        df(3,1)=1;
//        df(3,2)=0;
//        df(3,3)=1;


        df(1,1)=1;
        df(1,2)=0;
        df(1,3)=-sin(state(3)+delta_odom(1))*delta_odom(2);
        df(2,1)=0;
        df(2,2)=1;
        df(2,3)=cos(state(3)+delta_odom(1))*delta_odom(2);
        df(3,1)=0;
        df(3,2)=0;
        df(3,3)=1;

        return df;
    }
    else
    {
        if (i >= NumConditionalArgumentsGet())
        {
            cerr << "This pdf Only has " << NumConditionalArgumentsGet() << " conditional arguments\n";
            exit(-BFL_ERRMISUSE);
        }
        else{
            cerr << "The df is not implemented for the" <<i << "th conditional argument\n";
            exit(-BFL_ERRMISUSE);
        }
    }
}

}//namespace BFL