maximum_likelihood_nll.hpp

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#pragma once
#include <memory>
#include <rclcpp/rclcpp.hpp>
 
#include "common_lib/maths/transformations.hpp"
#include "perception_sensor_lib/data_association/base_data_association.hpp"
 
class MaximumLikelihoodNLL : public DataAssociationModel {
  Eigen::Matrix2d observation_noise_covariance_matrix_;
 
public:
  MaximumLikelihoodNLL(const DataAssociationParameters& params) : DataAssociationModel(params) {
    observation_noise_covariance_matrix_ = Eigen::Matrix2d::Zero();
    observation_noise_covariance_matrix_(0, 0) = params.observation_x_noise;
    observation_noise_covariance_matrix_(1, 1) = params.observation_y_noise;
  }
 
  ~MaximumLikelihoodNLL() = default;
 
  Eigen::VectorXi associate(const Eigen::VectorXd& landmarks, const Eigen::VectorXd& observations,
                            const Eigen::MatrixXd& covariance,
                            const Eigen::VectorXd& observation_confidences) const override;
};