Non Linear Conditional Gaussian. More...

Inheritance diagram for BFL::NonLinearAnalyticConditionalGaussianOdo:

Public Member Functions
virtual MatrixWrapper::Matrix	dfGet (unsigned int i) const

virtual MatrixWrapper::ColumnVector	ExpectedValueGet () const

	NonLinearAnalyticConditionalGaussianOdo (const Gaussian &additiveNoise)
	Constructor. More...

virtual	~NonLinearAnalyticConditionalGaussianOdo ()
	Destructor. More...

Detailed Description

Non Linear Conditional Gaussian.

$\mu = Matrix[1] . ConditionalArguments[0] + Matrix[2]. ConditionalArguments[1] + ... + Noise.\mu$
Covariance is independent of the ConditionalArguments, and is the covariance of the Noise pdf

Constructor & Destructor Documentation

BFL::NonLinearAnalyticConditionalGaussianOdo::NonLinearAnalyticConditionalGaussianOdo ( const Gaussian & additiveNoise )

Constructor.

Precondition: : Every Matrix should have the same amount of rows! This is currently not checked. The same goes for the number of columns, which should be equal to the number of rows of the corresponding conditional argument!

Parameters

additiveNoise Pdf representing the additive Gaussian uncertainty