tracker.h

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/* Author: Wim Meeussen */

#ifndef PEOPLE_TRACKING_FILTER_TRACKER_H
#define PEOPLE_TRACKING_FILTER_TRACKER_H

#include <people_tracking_filter/state_pos_vel.h>
#include <people_msgs/PositionMeasurement.h>
#include <bfl/wrappers/matrix/matrix_wrapper.h>
#include <string>


namespace estimation
{

class Tracker
{
public:
  explicit Tracker(const std::string& name): name_(name) {}

  virtual ~Tracker() {}

  const std::string& getName() const
  {
    return name_;
  };

  virtual void initialize(const BFL::StatePosVel& mu, const BFL::StatePosVel& sigma, const double time) = 0;

  virtual bool isInitialized() const = 0;

  virtual double getQuality() const = 0;

  virtual double getLifetime() const = 0;

  virtual double getTime() const = 0;

  virtual bool updatePrediction(const double time) = 0;
  virtual bool updateCorrection(const tf::Vector3& meas,
                                const MatrixWrapper::SymmetricMatrix& cov) = 0;

  virtual void getEstimate(BFL::StatePosVel& est) const = 0;
  virtual void getEstimate(people_msgs::PositionMeasurement& est) const = 0;

private:
  std::string name_;
};  // class
}  // namespace estimation
#endif  // PEOPLE_TRACKING_FILTER_TRACKER_H