sysmodel_vector.cpp

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/* Author: Wim Meeussen */


#include "people_tracking_filter/sysmodel_vector.h"


using namespace std;
using namespace BFL;
using namespace tf;


static const unsigned int NUM_SYS_VECTOR_COND_ARGS  = 1;
static const unsigned int DIM_SYS_VECTOR            = 3;


// Constructor
SysPdfVector::SysPdfVector(const Vector3& sigma)
  : ConditionalPdf<Vector3, Vector3>(DIM_SYS_VECTOR, NUM_SYS_VECTOR_COND_ARGS),
    noise_(Vector3(0, 0, 0), sigma)
{}



// Destructor
SysPdfVector::~SysPdfVector()
{}



Probability
SysPdfVector::ProbabilityGet(const Vector3& state) const
{
  cerr << "SysPdfVector::ProbabilityGet Method not applicable" << endl;
  assert(0);
  return 0;
}


bool
SysPdfVector::SampleFrom(Sample<Vector3>& one_sample, int method, void *args) const
{
  Vector3& res = one_sample.ValueGet();

  // get conditional argument: state
  res = this->ConditionalArgumentGet(0);

  // add noise
  Sample<Vector3> noise_sample;
  noise_.SampleFrom(noise_sample, method, args);
  res += noise_sample.ValueGet();

  return true;
}


Vector3
SysPdfVector::ExpectedValueGet() const
{
  cerr << "SysPdfVector::ExpectedValueGet Method not applicable" << endl;
  assert(0);
  return Vector3();

}

SymmetricMatrix
SysPdfVector::CovarianceGet() const
{
  cerr << "SysPdfVector::CovarianceGet Method not applicable" << endl;
  SymmetricMatrix Covar(DIM_SYS_VECTOR);
  assert(0);
  return Covar;
}