nonlinearanalyticconditionalgaussianodo.h

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// Copyright (C) 2008 Wim Meeussen <meeussen at willowgarage com>
//  
// This program is free software; you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation; either version 2.1 of the License, or
// (at your option) any later version.
//  
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
//  
// You should have received a copy of the GNU Lesser General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
//  


#ifndef __NON_LINEAR_SYSTEM_CONDITIONAL_GAUSSIAN_ODO__
#define __NON_LINEAR_SYSTEM_CONDITIONAL_GAUSSIAN_ODO__

#include <pdf/analyticconditionalgaussian_additivenoise.h>

namespace BFL
{

  class NonLinearAnalyticConditionalGaussianOdo : public AnalyticConditionalGaussianAdditiveNoise
  {
    public:

      NonLinearAnalyticConditionalGaussianOdo( const Gaussian& additiveNoise);

      virtual ~NonLinearAnalyticConditionalGaussianOdo();

      // redefine virtual functions
      virtual MatrixWrapper::ColumnVector    ExpectedValueGet() const;
      virtual MatrixWrapper::Matrix          dfGet(unsigned int i)       const;

    private:
      mutable MatrixWrapper::Matrix df;
    };

} // End namespace BFL
 
#endif //