GMPHDUnicycle2DIdCoopRCFilter.h

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00001 // ----------------------------------------------------------------------------
00002 //
00003 // $Id$
00004 //
00005 // Copyright 2008, 2009, 2010, 2011, 2012  Antonio Franchi and Paolo Stegagno
00006 //
00007 // This file is part of MIP.
00008 //
00009 // MIP is free software: you can redistribute it and/or modify
00010 // it under the terms of the GNU General Public License as published by
00011 // the Free Software Foundation, either version 3 of the License, or
00012 // (at your option) any later version.
00013 //
00014 // MIP is distributed in the hope that it will be useful,
00015 // but WITHOUT ANY WARRANTY; without even the implied warranty of
00016 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00017 // GNU General Public License for more details.
00018 //
00019 // You should have received a copy of the GNU General Public License
00020 // along with MIP. If not, see <http://www.gnu.org/licenses/>.
00021 //
00022 // Contact info: antonio.franchi@tuebingen.mpg.de stegagno@diag.uniroma1.it
00023 //
00024 // ----------------------------------------------------------------------------
00025 
00030 
00031 #ifndef __GMPHD_UNICYCLE_2D_ID_COOP_RC_FILTER_H
00032 #define __GMPHD_UNICYCLE_2D_ID_COOP_RC_FILTER_H
00033 
00034 #include <Spaces.h>
00035 #include <GaussianMixture.h>
00036 #include "GMPHDUnicycle2DIdCoopFilter.h"
00037 #include "PHDFilter.h"
00038 
00039 #define NO_ID -1
00040 #define STEADY_ID -2
00041 
00042 using namespace MipBaselib;
00043 using namespace arma;
00044 
00045 namespace MipAlgorithms{
00046 
00048  /* @{ */
00049 
00053  class GMPHDUnicycle2DIdCoopRCFilter:public GMPHDUnicycle2DIdCoopFilter{
00054 
00055   public:
00057    GMPHDUnicycle2DIdCoopRCFilter();
00058 
00060    GMPHDUnicycle2DIdCoopRCFilter(GMPHDUnicycle2DIdCoopFilterPars inParams);
00061    
00062    string getObjectName() const {
00063     return "GMPHDUnicycle2DIdCoopRCFilter";
00064    }
00065    
00066   protected:
00067 
00068    void _predictExistingTarget();
00069 
00070    void _buildPHDUpdateComponents(PHDFilterIn &in);
00071    void _updateWithMeasurements(PHDFilterIn &in);
00072    void _updateWithNoMeasurements(PHDFilterIn &in);
00073 
00074    void _buildOtherPHDUpdateComponentsSingle(PHDFilterIn &in, int sensId);
00075    void _updateWithOtherNoDetection(PHDFilterIn &in, int measIndex);
00076    void _updateWithOtherMeasurements(PHDFilterIn &in, int measIndex);
00077 
00078    void _initialize(PHDFilterIn &in);
00079  };
00080 
00081  /* @} */
00082 
00083 }
00084 
00085 
00086 #endif
00087 
00088 
00089 
00090 
00091 
00092 
00093 
00094 

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