sysmodel_vector.cpp

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/* Author: Wim Meeussen */

#include <people_tracking_filter/sysmodel_vector.h>

static const unsigned int NUM_SYS_VECTOR_COND_ARGS  = 1;
static const unsigned int DIM_SYS_VECTOR            = 3;

namespace BFL
{
// Constructor
SysPdfVector::SysPdfVector(const tf::Vector3& sigma)
  : ConditionalPdf<tf::Vector3, tf::Vector3>(DIM_SYS_VECTOR, NUM_SYS_VECTOR_COND_ARGS),
    noise_(tf::Vector3(0, 0, 0), sigma)
{}

// Destructor
SysPdfVector::~SysPdfVector()
{}

Probability
SysPdfVector::ProbabilityGet(const tf::Vector3& state) const
{
  std::cerr << "SysPdfVector::ProbabilityGet Method not applicable" << std::endl;
  assert(0);
  return 0;
}

bool
SysPdfVector::SampleFrom(Sample<tf::Vector3>& one_sample, int method, void *args) const
{
  tf::Vector3& res = one_sample.ValueGet();

  // get conditional argument: state
  res = this->ConditionalArgumentGet(0);

  // add noise
  Sample<tf::Vector3> noise_sample;
  noise_.SampleFrom(noise_sample, method, args);
  res += noise_sample.ValueGet();

  return true;
}

tf::Vector3
SysPdfVector::ExpectedValueGet() const
{
  std::cerr << "SysPdfVector::ExpectedValueGet Method not applicable" << std::endl;
  assert(0);
  return tf::Vector3();
}

SymmetricMatrix
SysPdfVector::CovarianceGet() const
{
  std::cerr << "SysPdfVector::CovarianceGet Method not applicable" << std::endl;
  SymmetricMatrix Covar(DIM_SYS_VECTOR);
  assert(0);
  return Covar;
}
}  // namespace BFL