gaussian_pos_vel.h

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/* Author: Wim Meeussen */

#ifndef PEOPLE_TRACKING_FILTER_GAUSSIAN_POS_VEL_H
#define PEOPLE_TRACKING_FILTER_GAUSSIAN_POS_VEL_H

#include <bfl/pdf/pdf.h>
#include <people_tracking_filter/state_pos_vel.h>
#include <people_tracking_filter/gaussian_vector.h>
#include <vector>

namespace BFL
{
class GaussianPosVel: public Pdf<StatePosVel>
{
private:
  StatePosVel mu_, sigma_;
  GaussianVector gauss_pos_, gauss_vel_;
  mutable double dt_;

public:
  GaussianPosVel(const StatePosVel& mu, const StatePosVel& sigma);

  virtual ~GaussianPosVel();

  virtual GaussianPosVel* Clone() const;

  friend std::ostream& operator<< (std::ostream& os, const GaussianPosVel& g);

  // set time
  void SetDt(double dt) const
  {
    dt_ = dt;
  };

  // Redefinition of pure virtuals
  virtual Probability ProbabilityGet(const StatePosVel& input) const;
  bool SampleFrom(vector<Sample<StatePosVel> >& list_samples, const int num_samples, int method = DEFAULT,
                  void * args = NULL) const;
  virtual bool SampleFrom(Sample<StatePosVel>& one_sample, int method = DEFAULT, void * args = NULL) const;

  virtual StatePosVel ExpectedValueGet() const;
  virtual MatrixWrapper::SymmetricMatrix CovarianceGet() const;
};
}  // end namespace BFL
#endif  // PEOPLE_TRACKING_FILTER_GAUSSIAN_POS_VEL_H