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 __TRACKER_KALMAN__ 00038 #define __TRACKER_KALMAN__ 00039 00040 #include "tracker.h" 00041 00042 // bayesian filtering 00043 #include <filter/extendedkalmanfilter.h> 00044 #include <model/linearanalyticsystemmodel_gaussianuncertainty.h> 00045 #include <model/linearanalyticmeasurementmodel_gaussianuncertainty.h> 00046 #include <pdf/linearanalyticconditionalgaussian.h> 00047 00048 00049 #include "state_pos_vel.h" 00050 00051 // TF 00052 #include <tf/tf.h> 00053 00054 // log files 00055 #include <fstream> 00056 00057 namespace estimation 00058 { 00059 00060 class TrackerKalman: public Tracker 00061 { 00062 public: 00064 TrackerKalman(const std::string& name, const BFL::StatePosVel& sysnoise); 00065 00067 virtual ~TrackerKalman(); 00068 00070 virtual void initialize(const BFL::StatePosVel& mu, const BFL::StatePosVel& sigma, const double time); 00071 00073 virtual bool isInitialized() const 00074 { 00075 return tracker_initialized_; 00076 }; 00077 00079 virtual double getQuality() const 00080 { 00081 return quality_; 00082 }; 00083 00085 virtual double getLifetime() const; 00086 00088 virtual double getTime() const; 00089 00091 virtual bool updatePrediction(const double time); 00092 virtual bool updateCorrection(const tf::Vector3& meas, 00093 const MatrixWrapper::SymmetricMatrix& cov); 00094 00096 virtual void getEstimate(BFL::StatePosVel& est) const; 00097 virtual void getEstimate(people_msgs::PositionMeasurement& est) const; 00098 00099 00100 private: 00101 // pdf / model / filter 00102 BFL::Gaussian prior_; 00103 BFL::ExtendedKalmanFilter* filter_; 00104 BFL::LinearAnalyticConditionalGaussian* sys_pdf_; 00105 BFL::LinearAnalyticSystemModelGaussianUncertainty* sys_model_; 00106 BFL::LinearAnalyticConditionalGaussian* meas_pdf_; 00107 BFL::LinearAnalyticMeasurementModelGaussianUncertainty* meas_model_; 00108 MatrixWrapper::Matrix sys_matrix_; 00109 MatrixWrapper::SymmetricMatrix sys_sigma_; 00110 00111 double calculateQuality(); 00112 00113 // vars 00114 bool tracker_initialized_; 00115 double init_time_, filter_time_, quality_; 00116 00117 00118 }; // class 00119 00120 }; // namespace 00121 00122 #endif