DESP.h

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/* ========================================================================
 * Copyright (c) 2006,
 * Institute for Computer Graphics and Vision
 * Graz University of Technology
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are
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 *
 * Redistributions of source code must retain the above copyright notice,
 * this list of conditions and the following disclaimer.
 *
 * Redistributions in binary form must reproduce the above copyright
 * notice, this list of conditions and the following disclaimer in the
 * documentation and/or other materials provided with the distribution.
 *
 * Neither the name of the Graz University of Technology nor the names of
 * its contributors may be used to endorse or promote products derived from
 * this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
 * IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
 * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
 * PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER
 * OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
 * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
 * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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 * ========================================================================
 * PROJECT: OpenTracker
 * ======================================================================== */
#ifndef __DESP_H__
#define __DESP_H__

#include <vector>

namespace ot {



    class DESP
    {
    public:
        DESP(float nAlpha=0.5f);

        void setAlpha(float nAlpha)  {  alpha = nAlpha;  }

        float getAlpha() const  {  return alpha;  }

        void observe(float nValue);

        float predict(int delta_t);

        void reinit();

    protected:
        float spt, spt2;
        float alpha;
    };



    class PoseDESP
    {
    public:
        PoseDESP();

        void setAlpha(float nAlphaPos, float nAlphaRot);

        void observe(std::vector<float> position_, std::vector<float> quaternion_);

        void predict(int delta_t, std::vector<float> &position_, std::vector<float> &quaternion_);

        void reinit();

    protected:
        DESP pos[3];
        DESP rot[4];
    };


}  // namespace ot


#endif //__DESP_H__

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