37 #ifndef PEOPLE_TRACKING_FILTER_MCPDF_POS_VEL_H 38 #define PEOPLE_TRACKING_FILTER_MCPDF_POS_VEL_H 40 #include <bfl/pdf/mcpdf.h> 43 #include <sensor_msgs/PointCloud.h> 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.
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.
MCPdfPosVel(unsigned int num_samples)
Constructor.
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.