mht_types.h

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#ifndef _MHT_TYPES_H_
#define _MHT_TYPES_H_

#error This file should not be used, DEPRECATED

#include <algorithm>
#include <vector>
#include <iostream>

#include <ros/ros.h>

#include <visualization_msgs/Marker.h>
#include <visualization_msgs/MarkerArray.h>

#include <boost/shared_ptr.hpp>
#include <boost/format.hpp>

#include <Eigen/Dense>
#include <Eigen/Cholesky>

#include <kfilter/ekfilter.hpp>

#include <mtt/tree.hh>
#include <mtt/tree_util.hh>
#include <mtt/cluster.h>

#include <mtt/mht_types_shared.h>

#include <mtt/nonholonomic_kalman_filter.h>

using Eigen::Matrix4d;
using Eigen::Matrix2d;
using Eigen::Vector2d;
using Eigen::Vector4d;
using Eigen::MatrixXd;
using Eigen::VectorXd;

using namespace Kalman;
using namespace ros;
using namespace std;


typedef EKFilter<double,0,false,false,false>::Vector kVector;

typedef EKFilter<double,0,false,false,false>::Matrix kMatrix;

class constantVelocityEKFilter:public EKFilter<double,0,false,false,false>
{
        public:
                        
                void SetIdentity(kMatrix& M,int size,double value=1);
                
                void SetZero(kMatrix& M,int size);
                
                void InitFilter(Vector4d& x_init);
                
                void InitFilter(Vector4d& x_init,Matrix4d& P_init);
                
                int miss_associations;
                int life_time;
                
                Vector4d x_predicted;
                Vector3d z_measured;
                Vector3d inovation_error;
                
        protected:
                
                double dt;
                Time lt;
                
                void makeCommonProcess();
                
                void makeBaseA();
                
                void makeA();
                
                void makeBaseH();
                
                void makeBaseW();
        
                void makeBaseV();

                void makeR();

                void makeQ();

                void makeProcess();
                
                void makeMeasure();
};

typedef boost::shared_ptr<constantVelocityEKFilter> constantVelocityEKFilterPtr;

namespace Mht
{

}

#endif