/// <summary>
/// Read the initial state for this feature from the Settings. This reads the
/// state \vct{y}_i and the robot position from which it was first
/// observed, \vct{x}_p^{orig} . These are not stored in the class, so are
/// returned as parameters.
/// </summary>
/// <param name="settings">The Settings class from which to read the data</param>
/// <param name="yi">To be filled in with the initial feature state, \vct{y}_i .</param>
/// <param name="xp_orig">To be filled in with the robot position from which the feature was first observed, \vct{x}_p^{orig} .</param>
public void read_initial_state(Settings.Section section, Vector yi, Vector xp_orig)
{
ArrayList values;
yi.Resize(FEATURE_STATE_SIZE);
values = section.get_entry("yi");
yi.ReadASCII((String)values[0]);
uint size = get_motion_model().POSITION_STATE_SIZE;
xp_orig.Resize(size);
values = section.get_entry("xp_orig");
xp_orig.ReadASCII((String)values[0]);
}
/// <summary>
/// Read the initial state vector and covariance from the settings class.
/// Since state \f$ x_v \f$ and covariance \f$ P_{xx} \f$ are not stored in
/// the class, these are passed by reference to be filled in by this function.
/// </summary>
/// <param name="settings"></param>
/// <param name="initial_xv"></param>
/// <param name="initial_Pxx"></param>
public void read_initial_state(Settings settings,
ref Vector initial_xv,
ref MatrixFixed initial_Pxx)
{
ArrayList values;
// Check that the motion model is correct
values = settings.get_entry("InitialState", "MotionModel");
if ((String)values[0] != motion_model_type)
{
Debug.WriteLine("Attempted to read an initial state with a motion model of type " +
motion_model_type + " where the initialisation data in the [InitialState] section" +
" reports the type " + settings.get_entry("InitialState", "MotionModel") + ".");
//throw Scene::InitialisationError(error.str());
}
// Make sure the vector and matrix are the correct sizes
initial_xv = new Vector(STATE_SIZE);
initial_Pxx = new MatrixFixed(STATE_SIZE, STATE_SIZE);
//initial_xv.Resize(STATE_SIZE);
//initial_Pxx.Resize(STATE_SIZE, STATE_SIZE);
initial_xv.Fill(0.0f);
initial_Pxx.Fill(0.0f);
values = settings.get_entry("InitialState", "xv");
String xv_stream = (String)values[0];
initial_xv.ReadASCII(xv_stream);
values = settings.get_entry("InitialState", "Pxx");
String Pxx_stream = (String)values[0];
initial_Pxx.ReadASCII(Pxx_stream);
}
