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00001 //================================================================================================= 00002 // Copyright (c) 2011, Johannes Meyer, TU Darmstadt 00003 // All rights reserved. 00004 00005 // Redistribution and use in source and binary forms, with or without 00006 // modification, are permitted provided that the following conditions are met: 00007 // * Redistributions of source code must retain the above copyright 00008 // notice, this list of conditions and the following disclaimer. 00009 // * Redistributions in binary form must reproduce the above copyright 00010 // notice, this list of conditions and the following disclaimer in the 00011 // documentation and/or other materials provided with the distribution. 00012 // * Neither the name of the Flight Systems and Automatic Control group, 00013 // TU Darmstadt, nor the names of its contributors may be used to 00014 // endorse or promote products derived from this software without 00015 // specific prior written permission. 00016 00017 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND 00018 // ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 00019 // WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 00020 // DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY 00021 // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 00022 // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00023 // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND 00024 // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 00025 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 00026 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00027 //================================================================================================= 00028 00029 #include <hector_pose_estimation/measurement_model.h> 00030 00031 namespace hector_pose_estimation { 00032 00033 MeasurementModel::MeasurementModel(unsigned int dimension, unsigned int conditional_arguments) 00034 : BFL::AnalyticConditionalGaussianAdditiveNoise(dimension, conditional_arguments == 0 ? 1 : 2) 00035 , BFL::AnalyticMeasurementModelGaussianUncertainty(this) 00036 , x_(static_cast<const StateVector&>(ConditionalArgumentGet(0))) 00037 , u_(conditional_arguments > 0 ? ConditionalArgumentGet(1) : *static_cast<ColumnVector *>(0)) 00038 , y_(dimension) 00039 , C_(dimension, StateDimension) 00040 , D_(dimension, conditional_arguments) 00041 { 00042 C_ = 0.0; D_ = 0.0; 00043 AdditiveNoiseMuSet(ColumnVector(dimension, 0.0)); 00044 AdditiveNoiseSigmaSet(SymmetricMatrix(dimension) = 0.0); 00045 } 00046 00047 MeasurementModel::~MeasurementModel() 00048 { 00049 } 00050 00051 } // namespace hector_pose_estimation