00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 /* Author: Wim Meeussen */ 00036 00037 00038 #ifndef GAUSSIAN_POS_VEL_H 00039 #define GAUSSIAN_POS_VEL_H 00040 00041 #include <pdf/pdf.h> 00042 #include "state_pos_vel.h" 00043 #include "gaussian_vector.h" 00044 00045 namespace BFL 00046 { 00048 class GaussianPosVel: public Pdf<StatePosVel> 00049 { 00050 private: 00051 StatePosVel mu_, sigma_; 00052 GaussianVector gauss_pos_, gauss_vel_; 00053 mutable double dt_; 00054 00055 public: 00057 GaussianPosVel(const StatePosVel& mu, const StatePosVel& sigma); 00058 00060 virtual ~GaussianPosVel(); 00061 00063 virtual GaussianPosVel* Clone() const; 00064 00066 friend std::ostream& operator<< (std::ostream& os, const GaussianPosVel& g); 00067 00068 // set time 00069 void SetDt(double dt) const 00070 { 00071 dt_ = dt; 00072 }; 00073 00074 // Redefinition of pure virtuals 00075 virtual Probability ProbabilityGet(const StatePosVel& input) const; 00076 bool SampleFrom(vector<Sample<StatePosVel> >& list_samples, const int num_samples, int method = DEFAULT, void * args = NULL) const; 00077 virtual bool SampleFrom(Sample<StatePosVel>& one_sample, int method = DEFAULT, void * args = NULL) const; 00078 00079 virtual StatePosVel ExpectedValueGet() const; 00080 virtual MatrixWrapper::SymmetricMatrix CovarianceGet() const; 00081 00082 }; 00083 00084 } // end namespace 00085 #endif