NonLinearRevoluteMeasurementPdf.h
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00001 /*
00002  * NonLinearRevoluteMeasurementPdf.h
00003  *
00004  *      Author: roberto
00005  *
00006  * This is a modified implementation of the method for online estimation of kinematic structures described in our paper
00007  * "Online Interactive Perception of Articulated Objects with Multi-Level Recursive Estimation Based on Task-Specific Priors"
00008  * (Martín-Martín and Brock, 2014).
00009  * This implementation can be used to reproduce the results of the paper and to be applied to new research.
00010  * The implementation allows also to be extended to perceive different information/models or to use additional sources of information.
00011  * A detail explanation of the method and the system can be found in our paper.
00012  *
00013  * If you are using this implementation in your research, please consider citing our work:
00014  *
00015 @inproceedings{martinmartin_ip_iros_2014,
00016 Title = {Online Interactive Perception of Articulated Objects with Multi-Level Recursive Estimation Based on Task-Specific Priors},
00017 Author = {Roberto {Mart\'in-Mart\'in} and Oliver Brock},
00018 Booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems},
00019 Pages = {2494-2501},
00020 Year = {2014},
00021 Location = {Chicago, Illinois, USA},
00022 Note = {http://www.robotics.tu-berlin.de/fileadmin/fg170/Publikationen_pdf/martinmartin_ip_iros_2014.pdf},
00023 Url = {http://www.robotics.tu-berlin.de/fileadmin/fg170/Publikationen_pdf/martinmartin_ip_iros_2014.pdf},
00024 Projectname = {Interactive Perception}
00025 }
00026  * If you have questions or suggestions, contact us:
00027  * roberto.martinmartin@tu-berlin.de
00028  *
00029  * Enjoy!
00030  */
00031 
00032 #ifndef NONLINEARREVOLUTEMEASUREMENTPDF_H_
00033 #define NONLINEARREVOLUTEMEASUREMENTPDF_H_
00034 
00035 #include <pdf/analyticconditionalgaussian_additivenoise.h>
00036 #include <pdf/gaussian.h>
00037 
00038 namespace BFL
00039 {
00040 class NonLinearRevoluteMeasurementPdf : public AnalyticConditionalGaussianAdditiveNoise
00041 {
00042 public:
00043 
00047     NonLinearRevoluteMeasurementPdf(const Gaussian& additiveNoise);
00048 
00052     virtual ~NonLinearRevoluteMeasurementPdf();
00053 
00060     virtual MatrixWrapper::ColumnVector ExpectedValueGet() const;
00061 
00068     virtual MatrixWrapper::Matrix dfGet(unsigned int i) const;
00069 
00070 private:
00071     mutable MatrixWrapper::Matrix dfx;
00072 
00073 };
00074 }
00075 
00076 #endif /* NONLINEARREVOLUTEMEASUREMENTPDF_H_ */


joint_tracker
Author(s): Roberto Martín-Martín
autogenerated on Sat Jun 8 2019 18:26:46