37 #ifndef __TRACKER_KALMAN__ 38 #define __TRACKER_KALMAN__ 43 #include <bfl/filter/extendedkalmanfilter.h> 44 #include <bfl/model/linearanalyticsystemmodel_gaussianuncertainty.h> 45 #include <bfl/model/linearanalyticmeasurementmodel_gaussianuncertainty.h> 46 #include <bfl/pdf/linearanalyticconditionalgaussian.h> 93 const MatrixWrapper::SymmetricMatrix& cov);
97 virtual void getEstimate(people_msgs::PositionMeasurement& est)
const;
105 BFL::LinearAnalyticSystemModelGaussianUncertainty*
sys_model_;
107 BFL::LinearAnalyticMeasurementModelGaussianUncertainty*
meas_model_;
virtual void getEstimate(BFL::StatePosVel &est) const
get filter posterior
virtual double getTime() const
return the time of the tracker
virtual bool isInitialized() const
return if tracker was initialized
virtual double getLifetime() const
return the lifetime of the tracker
bool tracker_initialized_
BFL::ExtendedKalmanFilter * filter_
Class representing state with pos and vel.
BFL::LinearAnalyticMeasurementModelGaussianUncertainty * meas_model_
BFL::LinearAnalyticSystemModelGaussianUncertainty * sys_model_
double calculateQuality()
virtual ~TrackerKalman()
destructor
virtual void initialize(const BFL::StatePosVel &mu, const BFL::StatePosVel &sigma, const double time)
initialize tracker
MatrixWrapper::Matrix sys_matrix_
BFL::LinearAnalyticConditionalGaussian * meas_pdf_
BFL::LinearAnalyticConditionalGaussian * sys_pdf_
virtual bool updateCorrection(const tf::Vector3 &meas, const MatrixWrapper::SymmetricMatrix &cov)
virtual double getQuality() const
return measure for tracker quality: 0=bad 1=good
MatrixWrapper::SymmetricMatrix sys_sigma_
virtual bool updatePrediction(const double time)
update tracker
TrackerKalman(const std::string &name, const BFL::StatePosVel &sysnoise)
constructor