mcpdf_pos_vel.h
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34 
35 /* Author: Wim Meeussen */
36 
37 #ifndef PEOPLE_TRACKING_FILTER_MCPDF_POS_VEL_H
38 #define PEOPLE_TRACKING_FILTER_MCPDF_POS_VEL_H
39 
40 #include <bfl/pdf/mcpdf.h>
42 #include <tf/tf.h>
43 #include <sensor_msgs/PointCloud.h>
44 
45 namespace BFL
46 {
48 class MCPdfPosVel: public MCPdf<StatePosVel>
49 {
50 public:
52  explicit MCPdfPosVel(unsigned int num_samples);
53 
55  virtual ~MCPdfPosVel();
56 
58  void getParticleCloud(const tf::Vector3& step, double threshold, sensor_msgs::PointCloud& cloud) const;
59 
61  MatrixWrapper::Matrix getHistogramPos(const tf::Vector3& min, const tf::Vector3& max, const tf::Vector3& step) const;
62 
64  MatrixWrapper::Matrix getHistogramVel(const tf::Vector3& min, const tf::Vector3& max, const tf::Vector3& step) const;
65 
66  virtual StatePosVel ExpectedValueGet() const;
67  virtual WeightedSample<StatePosVel> SampleGet(unsigned int particle) const;
68  virtual unsigned int numParticlesGet() const;
69 
70 private:
72  MatrixWrapper::Matrix getHistogram(const tf::Vector3& min, const tf::Vector3& max, const tf::Vector3& step,
73  bool pos_hist) const;
74 };
75 } // end namespace BFL
76 #endif // PEOPLE_TRACKING_FILTER_MCPDF_POS_VEL_H
void getParticleCloud(const tf::Vector3 &step, double threshold, sensor_msgs::PointCloud &cloud) const
Get evenly distributed particle cloud.
virtual StatePosVel ExpectedValueGet() const
MatrixWrapper::Matrix getHistogram(const tf::Vector3 &min, const tf::Vector3 &max, const tf::Vector3 &step, bool pos_hist) const
Get histogram from certain area.
Class representing state with pos and vel.
Definition: state_pos_vel.h:46
virtual WeightedSample< StatePosVel > SampleGet(unsigned int particle) const
virtual unsigned int numParticlesGet() const
MatrixWrapper::Matrix getHistogramPos(const tf::Vector3 &min, const tf::Vector3 &max, const tf::Vector3 &step) const
Get pos histogram from certain area.
virtual ~MCPdfPosVel()
Destructor.
unsigned int step
MCPdfPosVel(unsigned int num_samples)
Constructor.
int min(int a, int b)
MatrixWrapper::Matrix getHistogramVel(const tf::Vector3 &min, const tf::Vector3 &max, const tf::Vector3 &step) const
Get vel histogram from certain area.
Class representing a posvel mcpdf.
Definition: mcpdf_pos_vel.h:48


people_tracking_filter
Author(s): Caroline Pantofaru
autogenerated on Sun Feb 21 2021 03:56:47