gaussian_pos_vel.cpp

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/* Author: Wim Meeussen */

#include <people_tracking_filter/gaussian_pos_vel.h>
#include <bfl/wrappers/rng/rng.h>
#include <cmath>
#include <cassert>
#include <vector>

namespace BFL
{
GaussianPosVel::GaussianPosVel(const StatePosVel& mu, const StatePosVel& sigma)
  : Pdf<StatePosVel> (1),
    mu_(mu),
    sigma_(sigma),
    gauss_pos_(mu.pos_, sigma.pos_),
    gauss_vel_(mu.vel_, sigma.vel_)
{}

GaussianPosVel::~GaussianPosVel() {}

GaussianPosVel* GaussianPosVel::Clone() const
{
  return new GaussianPosVel(mu_, sigma_);
}

std::ostream& operator<< (std::ostream& os, const GaussianPosVel& g)
{
  os << "\nMu pos :\n"    << g.ExpectedValueGet().pos_ << std::endl
     << "\nMu vel :\n"    << g.ExpectedValueGet().vel_ << std::endl
     << "\nSigma:\n" << g.CovarianceGet() << std::endl;
  return os;
}

Probability GaussianPosVel::ProbabilityGet(const StatePosVel& input) const
{
  return gauss_pos_.ProbabilityGet(input.pos_) * gauss_vel_.ProbabilityGet(input.vel_);
}

bool
GaussianPosVel::SampleFrom(std::vector<Sample<StatePosVel> >& list_samples, const int num_samples, int method,
                           void * args) const
{
  list_samples.resize(num_samples);
  std::vector<Sample<StatePosVel> >::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
GaussianPosVel::SampleFrom(Sample<StatePosVel>& one_sample, int method, void * args) const
{
  one_sample.ValueSet(StatePosVel(tf::Vector3(rnorm(mu_.pos_[0], sigma_.pos_[0]*dt_),
                                              rnorm(mu_.pos_[1], sigma_.pos_[1]*dt_),
                                              rnorm(mu_.pos_[2], sigma_.pos_[2]*dt_)),
                                  tf::Vector3(rnorm(mu_.vel_[0], sigma_.vel_[0]*dt_),
                                              rnorm(mu_.vel_[1], sigma_.vel_[1]*dt_),
                                              rnorm(mu_.vel_[2], sigma_.vel_[2]*dt_))));
  return true;
}

StatePosVel
GaussianPosVel::ExpectedValueGet() const
{
  return mu_;
}

SymmetricMatrix
GaussianPosVel::CovarianceGet() const
{
  SymmetricMatrix sigma(6);
  sigma = 0;
  for (unsigned int i = 0; i < 3; i++)
  {
    sigma(i + 1, i + 1) = pow(sigma_.pos_[i], 2);
    sigma(i + 4, i + 4) = pow(sigma_.vel_[i], 2);
  }
  return sigma;
}
}  // End namespace BFL