types_declaration.h

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#ifndef _TYPES_DECLARATION_H_
#define _TYPES_DECLARATION_H_

#error This file should not be used, DEPRECATED

#include <ros/ros.h>

#include <kfilter/ekfilter.hpp>

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

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

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

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

class constant_velocity_ekfilter:public EKFilter<double,0,false,false,false>
{
        public:
                        
                void SetIdentity(Matrix& M,int size,double value=1);
                
                void SetZero(Matrix& M,int size);
                
                void InitFilter(Vector4d& x_init);
                
        protected:
                
                double dt;
                Time lt;
                
                Vector4d x_predicted;
                Vector2d z_measured;
                Vector2d inovation_error;
                
                void makeCommonProcess();
                
                void makeBaseA();
                
                void makeA();
                
                void makeBaseH();
                
                void makeBaseW();
        
                void makeBaseV();

                void makeR();

                void makeQ();

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

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

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

typedef boost::shared_ptr<constant_velocity_ekfilter> constant_velocity_ekfilterPtr;

class t_cluster;/*this declaration has been pulled up because class t_point needs it*/
typedef boost::shared_ptr<t_cluster> t_clusterPtr;

class t_point
{
        public:
                
                t_point();
                
                void SetZero();
                
                t_point& operator+=(const t_point &rhs);
                
                void Scale(double val);
                
                double x;
                double y;
                double z;
                double r;
                double t;
                double n;
                double ni;
                
                t_clusterPtr cl;
        private:
};

typedef boost::shared_ptr<t_point> t_pointPtr;

class t_cluster
{
        public:
                vector<t_pointPtr> points;
                t_point centroid;
                double id;
                vector<int> associations;
                
                t_cluster();

                t_cluster & operator=(const t_cluster &rhs);
                
                bool BreakPointDetector(t_pointPtr&pt,t_pointPtr&pt_m1);
                
                void CalculateCentroid(void);
                
        private:
};

class t_node
{
        //nodes will use IMM to predict and estimate positions, maybe even using kalman smother
        
        public:
                t_cluster local_cluster;
                constant_velocity_ekfilter estimator;
                Vector4d x;
                Vector4d x_p;
                Vector2d z;
                Matrix4d P;
                int failed_associations_counter;
                int successful_association_counter;
                long age;
                enum e_mode {NEW,MAIN,SIBLING,FAILED,TEST} mode;
                long id;
                long data_iteration;
                
                visualization_msgs::Marker marker;
                
                void IncreaseAge(int increment=1);
                
                void Step();
                
                t_node(t_cluster&cluster,long iteration);
                
                t_node(t_node&node,t_cluster&cluster,long iteration);
                
                t_node(t_node&node,long iteration);

                void CommonConstructor();
                
                ~t_node(void);
                
                string GetName();
                
        private:
};

typedef boost::shared_ptr<t_node> t_nodePtr;

ostream& operator<< (ostream &o, const t_nodePtr &i);


#endif