sysmodel_pos_vel.cpp
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00034 
00035 /* Author: Wim Meeussen */
00036 
00037 
00038 #include "people_tracking_filter/sysmodel_pos_vel.h"
00039 
00040 
00041 using namespace std;
00042 using namespace BFL;
00043 using namespace tf;
00044 
00045 
00046 static const unsigned int NUM_SYS_POS_VEL_COND_ARGS = 1;
00047 static const unsigned int DIM_SYS_POS_VEL           = 6;
00048 
00049 
00050 // Constructor
00051 SysPdfPosVel::SysPdfPosVel(const StatePosVel& sigma)
00052   : ConditionalPdf<StatePosVel, StatePosVel>(DIM_SYS_POS_VEL, NUM_SYS_POS_VEL_COND_ARGS),
00053     noise_(StatePosVel(Vector3(0, 0, 0), Vector3(0, 0, 0)), sigma)
00054 {}
00055 
00056 
00057 
00058 // Destructor
00059 SysPdfPosVel::~SysPdfPosVel()
00060 {}
00061 
00062 
00063 
00064 Probability
00065 SysPdfPosVel::ProbabilityGet(const StatePosVel& state) const
00066 {
00067   cerr << "SysPdfPosVel::ProbabilityGet Method not applicable" << endl;
00068   assert(0);
00069   return 0;
00070 }
00071 
00072 
00073 bool
00074 SysPdfPosVel::SampleFrom(Sample<StatePosVel>& one_sample, int method, void *args) const
00075 {
00076   StatePosVel& res = one_sample.ValueGet();
00077 
00078   // get conditional argument: state
00079   res = this->ConditionalArgumentGet(0);
00080 
00081   // apply system model
00082   res.pos_ += (res.vel_ * dt_);
00083 
00084   // add noise
00085   Sample<StatePosVel> noise_sample;
00086   noise_.SetDt(dt_);
00087   noise_.SampleFrom(noise_sample, method, args);
00088   res += noise_sample.ValueGet();
00089 
00090   return true;
00091 }
00092 
00093 
00094 StatePosVel
00095 SysPdfPosVel::ExpectedValueGet() const
00096 {
00097   cerr << "SysPdfPosVel::ExpectedValueGet Method not applicable" << endl;
00098   assert(0);
00099   return StatePosVel();
00100 
00101 }
00102 
00103 SymmetricMatrix
00104 SysPdfPosVel::CovarianceGet() const
00105 {
00106   cerr << "SysPdfPosVel::CovarianceGet Method not applicable" << endl;
00107   SymmetricMatrix Covar(DIM_SYS_POS_VEL);
00108   assert(0);
00109   return Covar;
00110 }
00111 


people_tracking_filter
Author(s): Caroline Pantofaru
autogenerated on Sat Jun 8 2019 18:40:22