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 #ifndef SYSMODEL_POS_VEL_H 00038 #define SYSMODEL_POS_VEL_H 00039 00040 00041 #include "state_pos_vel.h" 00042 #include "gaussian_pos_vel.h" 00043 #include <model/systemmodel.h> 00044 #include <pdf/conditionalpdf.h> 00045 #include <wrappers/matrix/matrix_wrapper.h> 00046 #include <string> 00047 00048 namespace BFL 00049 { 00050 00051 class SysPdfPosVel 00052 : public ConditionalPdf<StatePosVel, StatePosVel> 00053 { 00054 public: 00056 SysPdfPosVel(const StatePosVel& sigma); 00057 00059 virtual ~SysPdfPosVel(); 00060 00061 // set time 00062 void SetDt(double dt) 00063 { 00064 dt_ = dt; 00065 }; 00066 00067 // Redefining pure virtual methods 00068 virtual bool SampleFrom(BFL::Sample<StatePosVel>& one_sample, int method, void *args) const; 00069 virtual StatePosVel ExpectedValueGet() const; // not applicable 00070 virtual Probability ProbabilityGet(const StatePosVel& state) const; // not applicable 00071 virtual MatrixWrapper::SymmetricMatrix CovarianceGet() const; // Not applicable 00072 00073 00074 private: 00075 GaussianPosVel noise_; 00076 double dt_; 00077 00078 }; // class 00079 00080 00081 00082 00083 00084 00085 00086 class SysModelPosVel 00087 : public SystemModel<StatePosVel> 00088 { 00089 public: 00090 SysModelPosVel(const StatePosVel& sigma) 00091 : SystemModel<StatePosVel>(new SysPdfPosVel(sigma)) 00092 {}; 00093 00095 ~SysModelPosVel() 00096 { 00097 delete SystemPdfGet(); 00098 }; 00099 00100 // set time 00101 void SetDt(double dt) 00102 { 00103 ((SysPdfPosVel*)SystemPdfGet())->SetDt(dt); 00104 }; 00105 00106 }; // class 00107 00108 00109 00110 } //namespace 00111 00112 00113 #endif