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 MEASMODEL_POS_H 00038 #define MEASMODEL_POS_H 00039 00040 #include "state_pos_vel.h" 00041 #include "tf/tf.h" 00042 #include "gaussian_vector.h" 00043 #include <model/measurementmodel.h> 00044 #include <pdf/conditionalpdf.h> 00045 #include <wrappers/matrix/matrix_wrapper.h> 00046 #include <string> 00047 00048 namespace BFL 00049 { 00050 00051 class MeasPdfPos 00052 : public BFL::ConditionalPdf<tf::Vector3, StatePosVel> 00053 { 00054 public: 00056 MeasPdfPos(const tf::Vector3& sigma); 00057 00059 virtual ~MeasPdfPos(); 00060 00061 // set covariance 00062 void CovarianceSet(const MatrixWrapper::SymmetricMatrix& cov); 00063 00064 // Redefining pure virtual methods 00065 virtual BFL::Probability ProbabilityGet(const tf::Vector3& input) const; 00066 virtual bool SampleFrom(BFL::Sample<tf::Vector3>& one_sample, int method, void *args) const; // Not applicable 00067 virtual tf::Vector3 ExpectedValueGet() const; // Not applicable 00068 virtual MatrixWrapper::SymmetricMatrix CovarianceGet() const; // Not applicable 00069 00070 00071 private: 00072 GaussianVector meas_noise_; 00073 00074 }; // class 00075 00076 00077 00078 00079 00080 00081 class MeasModelPos 00082 : public BFL::MeasurementModel<tf::Vector3, StatePosVel> 00083 { 00084 public: 00086 MeasModelPos(const tf::Vector3& sigma) 00087 : BFL::MeasurementModel<tf::Vector3, StatePosVel>(new MeasPdfPos(sigma)) 00088 {}; 00089 00091 ~MeasModelPos() 00092 { 00093 delete MeasurementPdfGet(); 00094 }; 00095 00096 }; // class 00097 00098 } //namespace 00099 00100 00101 #endif