measurement_model.h

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//=================================================================================================
// Copyright (c) 2011, Johannes Meyer and Martin Nowara, TU Darmstadt
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//       TU Darmstadt, nor the names of its contributors may be used to
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#ifndef HECTOR_POSE_ESTIMATION_MEASUREMENT_MODEL_H
#define HECTOR_POSE_ESTIMATION_MEASUREMENT_MODEL_H

#include <bfl/model/analyticmeasurementmodel_gaussianuncertainty.h>
#include <bfl/pdf/analyticconditionalgaussian_additivenoise.h>

#include <hector_pose_estimation/parameters.h>
#include <hector_pose_estimation/types.h>

#include <string>

namespace hector_pose_estimation {

class MeasurementModel : public BFL::AnalyticConditionalGaussianAdditiveNoise, public BFL::AnalyticMeasurementModelGaussianUncertainty {
public:
  MeasurementModel(unsigned int dimension, unsigned int conditional_arguments = 0);
  virtual ~MeasurementModel();

  virtual bool init() { return true; }
  virtual void cleanup() { }
  virtual void reset() { }

  virtual SystemStatus getStatusFlags() const { return SystemStatus(0); }
  virtual bool applyStatusMask(const SystemStatus& status) { return true; }

  ParameterList& parameters() { return parameters_; }
  const ParameterList& parameters() const { return parameters_; }

  virtual ColumnVector ExpectedValueGet() const = 0;
  virtual Matrix dfGet(unsigned int i) const = 0;

  using BFL::AnalyticConditionalGaussianAdditiveNoise::CovarianceGet;
  using BFL::AnalyticMeasurementModelGaussianUncertainty::CovarianceGet;

protected:
  ParameterList parameters_;
  const StateVector& x_;
  const ColumnVector& u_;
  mutable ColumnVector y_;
  mutable Matrix C_;
  mutable Matrix D_;
};

} // namespace hector_pose_estimation

#endif // HECTOR_POSE_ESTIMATION_MEASUREMENT_MODEL_H