measmodel_vector.h

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/* Author: Wim Meeussen */


#ifndef PEOPLE_TRACKING_FILTER_MEASMODEL_VECTOR_H
#define PEOPLE_TRACKING_FILTER_MEASMODEL_VECTOR_H

#include <tf/tf.h>
#include <people_tracking_filter/gaussian_vector.h>
#include <bfl/model/measurementmodel.h>
#include <bfl/pdf/conditionalpdf.h>
#include <bfl/wrappers/matrix/matrix_wrapper.h>
#include <string>

namespace BFL
{
class MeasPdfVector
  : public BFL::ConditionalPdf<tf::Vector3, tf::Vector3>
{
public:
  explicit MeasPdfVector(const tf::Vector3& sigma);

  virtual ~MeasPdfVector();

  // set covariance
  void CovarianceSet(const  MatrixWrapper::SymmetricMatrix& cov);

  // Redefining pure virtual methods
  virtual BFL::Probability ProbabilityGet(const tf::Vector3& input) const;
  virtual bool SampleFrom(BFL::Sample<tf::Vector3>& one_sample, int method, void *args) const;   // Not applicable
  virtual tf::Vector3 ExpectedValueGet() const;  // Not applicable
  virtual MatrixWrapper::SymmetricMatrix  CovarianceGet() const;  // Not applicable

private:
  GaussianVector meas_noise_;
};  // class

class MeasModelVector
  : public BFL::MeasurementModel<tf::Vector3, tf::Vector3>
{
public:
  explicit MeasModelVector(const tf::Vector3& sigma)
    : BFL::MeasurementModel<tf::Vector3, tf::Vector3>(new MeasPdfVector(sigma))
  {};

  ~MeasModelVector()
  {
    delete MeasurementPdfGet();
  };
};  // class
}  // namespace BFL
#endif  // PEOPLE_TRACKING_FILTER_MEASMODEL_VECTOR_H