vpUKSigmaDrawerMerwe.h

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2024 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Display a point cloud using PCL library.
 */
 
#ifndef VP_UK_SIGMA_DRAWER_MERWE_H
#define VP_UK_SIGMA_DRAWER_MERWE_H
 
#include <vector>
 
#include <visp3/core/vpConfig.h>
 
#include <visp3/core/vpUKSigmaDrawerAbstract.h>
#include <visp3/core/vpUnscentedKalman.h>
 
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
BEGIN_VISP_NAMESPACE
class VISP_EXPORT vpUKSigmaDrawerMerwe : public vpUKSigmaDrawerAbstract
{
public:
  typedef vpUnscentedKalman::vpAddSubFunction vpAddSubFunction;
 
  vpUKSigmaDrawerMerwe(const int &n, const double &alpha, const double &beta, const double &kappa,
                       const vpAddSubFunction &resFunc = vpUnscentedKalman::simpleResidual,
                       const vpAddSubFunction &addFunc = vpUnscentedKalman::simpleAdd);
 
  virtual ~vpUKSigmaDrawerMerwe() { }
 
  virtual std::vector<vpColVector> drawSigmaPoints(const vpColVector &mean, const vpMatrix &covariance) override;
 
  virtual vpSigmaPointsWeights computeWeights() override;
protected:
  inline void computeLambda()
  {
    m_lambda = m_alpha * m_alpha * (static_cast<double>(m_n) + m_kappa) - static_cast<double>(m_n);
  }
 
  double m_alpha; 
  double m_beta; 
  double m_kappa; 
  double m_lambda; 
  vpAddSubFunction m_resFunc; 
  vpAddSubFunction m_addFunc; 
};
END_VISP_NAMESPACE
#endif
#endif