tracker_kalman.h

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/* Author: Wim Meeussen */

#ifndef PEOPLE_TRACKING_FILTER_TRACKER_KALMAN_H
#define PEOPLE_TRACKING_FILTER_TRACKER_KALMAN_H

#include <people_tracking_filter/tracker.h>

// bayesian filtering
#include <bfl/filter/extendedkalmanfilter.h>
#include <bfl/model/linearanalyticsystemmodel_gaussianuncertainty.h>
#include <bfl/model/linearanalyticmeasurementmodel_gaussianuncertainty.h>
#include <bfl/pdf/linearanalyticconditionalgaussian.h>


#include <people_tracking_filter/state_pos_vel.h>

// TF
#include <tf/tf.h>

// log files
#include <fstream>
#include <string>

namespace estimation
{

class TrackerKalman: public Tracker
{
public:
  TrackerKalman(const std::string& name, const BFL::StatePosVel& sysnoise);

  virtual ~TrackerKalman();

  virtual void initialize(const BFL::StatePosVel& mu, const BFL::StatePosVel& sigma, const double time);

  virtual bool isInitialized() const
  {
    return tracker_initialized_;
  };

  virtual double getQuality() const
  {
    return quality_;
  };

  virtual double getLifetime() const;

  virtual double getTime() const;

  virtual bool updatePrediction(const double time);
  virtual bool updateCorrection(const tf::Vector3& meas,
                                const MatrixWrapper::SymmetricMatrix& cov);

  virtual void getEstimate(BFL::StatePosVel& est) const;
  virtual void getEstimate(people_msgs::PositionMeasurement& est) const;

private:
  // pdf / model / filter
  BFL::Gaussian                                           prior_;
  BFL::ExtendedKalmanFilter*                              filter_;
  BFL::LinearAnalyticConditionalGaussian*                 sys_pdf_;
  BFL::LinearAnalyticSystemModelGaussianUncertainty*      sys_model_;
  BFL::LinearAnalyticConditionalGaussian*                 meas_pdf_;
  BFL::LinearAnalyticMeasurementModelGaussianUncertainty* meas_model_;
  MatrixWrapper::Matrix                                   sys_matrix_;
  MatrixWrapper::SymmetricMatrix                          sys_sigma_;

  double calculateQuality();

  // vars
  bool tracker_initialized_;
  double init_time_, filter_time_, quality_;
};  // class
}  // namespace estimation
#endif  // PEOPLE_TRACKING_FILTER_TRACKER_KALMAN_H