mcpdf_vector.h

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/* Author: Wim Meeussen */

#ifndef PEOPLE_TRACKING_FILTER_MCPDF_VECTOR_H
#define PEOPLE_TRACKING_FILTER_MCPDF_VECTOR_H

#include <bfl/pdf/mcpdf.h>
#include <tf/tf.h>
#include <sensor_msgs/PointCloud.h>

namespace BFL
{
class MCPdfVector: public MCPdf<tf::Vector3>
{
public:
  explicit MCPdfVector(unsigned int num_samples);

  virtual ~MCPdfVector();

  void getParticleCloud(const tf::Vector3& step, double threshold, sensor_msgs::PointCloud& cloud) const;

  MatrixWrapper::Matrix getHistogram(const tf::Vector3& min, const tf::Vector3& max, const tf::Vector3& step) const;

  virtual tf::Vector3 ExpectedValueGet() const;
  virtual WeightedSample<tf::Vector3> SampleGet(unsigned int particle) const;
  virtual unsigned int numParticlesGet() const;
};
}  // end namespace BFL
#endif  // PEOPLE_TRACKING_FILTER_MCPDF_VECTOR_H