sysmodel_vector.cpp
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00034 
00035 /* Author: Wim Meeussen */
00036 
00037 
00038 #include "people_tracking_filter/sysmodel_vector.h"
00039 
00040 
00041 using namespace std;
00042 using namespace BFL;
00043 using namespace tf;
00044 
00045 
00046 static const unsigned int NUM_SYS_VECTOR_COND_ARGS  = 1;
00047 static const unsigned int DIM_SYS_VECTOR            = 3;
00048 
00049 
00050 // Constructor
00051 SysPdfVector::SysPdfVector(const Vector3& sigma)
00052   : ConditionalPdf<Vector3, Vector3>(DIM_SYS_VECTOR, NUM_SYS_VECTOR_COND_ARGS),
00053     noise_(Vector3(0, 0, 0), sigma)
00054 {}
00055 
00056 
00057 
00058 // Destructor
00059 SysPdfVector::~SysPdfVector()
00060 {}
00061 
00062 
00063 
00064 Probability
00065 SysPdfVector::ProbabilityGet(const Vector3& state) const
00066 {
00067   cerr << "SysPdfVector::ProbabilityGet Method not applicable" << endl;
00068   assert(0);
00069   return 0;
00070 }
00071 
00072 
00073 bool
00074 SysPdfVector::SampleFrom(Sample<Vector3>& one_sample, int method, void *args) const
00075 {
00076   Vector3& res = one_sample.ValueGet();
00077 
00078   // get conditional argument: state
00079   res = this->ConditionalArgumentGet(0);
00080 
00081   // add noise
00082   Sample<Vector3> noise_sample;
00083   noise_.SampleFrom(noise_sample, method, args);
00084   res += noise_sample.ValueGet();
00085 
00086   return true;
00087 }
00088 
00089 
00090 Vector3
00091 SysPdfVector::ExpectedValueGet() const
00092 {
00093   cerr << "SysPdfVector::ExpectedValueGet Method not applicable" << endl;
00094   assert(0);
00095   return Vector3();
00096 
00097 }
00098 
00099 SymmetricMatrix
00100 SysPdfVector::CovarianceGet() const
00101 {
00102   cerr << "SysPdfVector::CovarianceGet Method not applicable" << endl;
00103   SymmetricMatrix Covar(DIM_SYS_VECTOR);
00104   assert(0);
00105   return Covar;
00106 }
00107 


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