Class for linear analytic measurementmodels with additive gaussian noise. More...
#include <linearanalyticmeasurementmodel_gaussianuncertainty_implicit.h>
Public Member Functions | |
virtual void | Calculate (const MatrixWrapper::ColumnVector &x, const MatrixWrapper::ColumnVector &z, const MatrixWrapper::Matrix &R)=0 |
virtual MatrixWrapper::SymmetricMatrix & | CovarianceGet ()=0 |
Returns covariance of the noise on the linearised measurement model evaluated using measurements z and states x. | |
virtual MatrixWrapper::SymmetricMatrix | CovarianceGet (const MatrixWrapper::ColumnVector &z, const MatrixWrapper::ColumnVector &x)=0 |
Returns covariance of the noise on the linearised measurement model evaluated using current z and states x. | |
virtual MatrixWrapper::Matrix | df_dxGet (const MatrixWrapper::ColumnVector &z, const MatrixWrapper::ColumnVector &x)=0 |
Returns H-matrix calculated with measurement z and state x. | |
virtual MatrixWrapper::Matrix & | df_dzGet (const MatrixWrapper::ColumnVector &z, const MatrixWrapper::ColumnVector &x)=0 |
Returns D-matrix calculated with measurement z and state x. | |
virtual MatrixWrapper::Matrix & | dfGet (int number)=0 |
virtual MatrixWrapper::ColumnVector | ExpectedValueGet ()=0 |
Return a prediction for the mean of the noise on the linear measurement equation, using the current x and z. | |
virtual const MatrixWrapper::ColumnVector & | fGet () const =0 |
virtual const int & | Is_Identity () const =0 |
Returns 1 if D-matrix equals the identity matrix else 0. | |
LinearAnalyticMeasurementModelGaussianUncertainty_Implicit (LinearAnalyticConditionalGaussian *pdf) | |
Constructor. | |
LinearAnalyticMeasurementModelGaussianUncertainty_Implicit () | |
Constructor. | |
virtual MatrixWrapper::ColumnVector | PredictionGet (const MatrixWrapper::ColumnVector &z, const MatrixWrapper::ColumnVector &x)=0 |
Return a prediction for the mean of the noise on the linear measurement equation, calculated with measurements z and state x. | |
virtual const MatrixWrapper::Matrix & | SRCovariance () const =0 |
Returns square root of the covariance of the measurements z. | |
virtual const int | TypeGet () const =0 |
virtual | ~LinearAnalyticMeasurementModelGaussianUncertainty_Implicit () |
Destructor. |
Class for linear analytic measurementmodels with additive gaussian noise.
This class represents all measurement models of the form
as a linear measurement model with virtual measurement z_k^{virtual}
Definition at line 37 of file linearanalyticmeasurementmodel_gaussianuncertainty_implicit.h.
BFL::LinearAnalyticMeasurementModelGaussianUncertainty_Implicit::LinearAnalyticMeasurementModelGaussianUncertainty_Implicit | ( | LinearAnalyticConditionalGaussian * | ) |
Constructor.
Conditional pdf, with Gaussian uncertainty |
Definition at line 27 of file linearanalyticmeasurementmodel_gaussianuncertainty_implicit.cpp.
Constructor.
Definition at line 32 of file linearanalyticmeasurementmodel_gaussianuncertainty_implicit.cpp.
BFL::LinearAnalyticMeasurementModelGaussianUncertainty_Implicit::~LinearAnalyticMeasurementModelGaussianUncertainty_Implicit | ( | ) | [virtual] |
Destructor.
Definition at line 43 of file linearanalyticmeasurementmodel_gaussianuncertainty_implicit.cpp.
virtual void BFL::LinearAnalyticMeasurementModelGaussianUncertainty_Implicit::Calculate | ( | const MatrixWrapper::ColumnVector & | x, |
const MatrixWrapper::ColumnVector & | z, | ||
const MatrixWrapper::Matrix & | R | ||
) | [pure virtual] |
virtual MatrixWrapper::SymmetricMatrix& BFL::LinearAnalyticMeasurementModelGaussianUncertainty_Implicit::CovarianceGet | ( | ) | [pure virtual] |
Returns covariance of the noise on the linearised measurement model evaluated using measurements z and states x.
The linearised measurement equation look like:
with noise
and covariance
and R the noise on the measurements z .
virtual MatrixWrapper::SymmetricMatrix BFL::LinearAnalyticMeasurementModelGaussianUncertainty_Implicit::CovarianceGet | ( | const MatrixWrapper::ColumnVector & | z, |
const MatrixWrapper::ColumnVector & | x | ||
) | [pure virtual] |
Returns covariance of the noise on the linearised measurement model evaluated using current z and states x.
The linearised measurement equation look like:
with noise
and covariance
and R the noise on the measurements z .
Reimplemented from BFL::LinearAnalyticMeasurementModelGaussianUncertainty.
virtual MatrixWrapper::Matrix BFL::LinearAnalyticMeasurementModelGaussianUncertainty_Implicit::df_dxGet | ( | const MatrixWrapper::ColumnVector & | z, |
const MatrixWrapper::ColumnVector & | x | ||
) | [pure virtual] |
Returns H-matrix calculated with measurement z and state x.
used to determine the covariance of noise on the linear measurement equation
z | The value of the input in which the derivate is evaluated |
x | The value in the state in which the derivate is evaluated |
Reimplemented from BFL::LinearAnalyticMeasurementModelGaussianUncertainty.
virtual MatrixWrapper::Matrix& BFL::LinearAnalyticMeasurementModelGaussianUncertainty_Implicit::df_dzGet | ( | const MatrixWrapper::ColumnVector & | z, |
const MatrixWrapper::ColumnVector & | x | ||
) | [pure virtual] |
Returns D-matrix calculated with measurement z and state x.
used to determine the covariance of noise on the linear measurement equation
z | The value of the input in which the derivate is evaluated |
x | The value in the state in which the derivate is evaluated |
virtual MatrixWrapper::Matrix& BFL::LinearAnalyticMeasurementModelGaussianUncertainty_Implicit::dfGet | ( | int | number | ) | [pure virtual] |
virtual MatrixWrapper::ColumnVector BFL::LinearAnalyticMeasurementModelGaussianUncertainty_Implicit::ExpectedValueGet | ( | ) | [pure virtual] |
Return a prediction for the mean of the noise on the linear measurement equation, using the current x and z.
virtual const MatrixWrapper::ColumnVector& BFL::LinearAnalyticMeasurementModelGaussianUncertainty_Implicit::fGet | ( | ) | const [pure virtual] |
virtual const int& BFL::LinearAnalyticMeasurementModelGaussianUncertainty_Implicit::Is_Identity | ( | ) | const [pure virtual] |
Returns 1 if D-matrix equals the identity matrix else 0.
virtual MatrixWrapper::ColumnVector BFL::LinearAnalyticMeasurementModelGaussianUncertainty_Implicit::PredictionGet | ( | const MatrixWrapper::ColumnVector & | z, |
const MatrixWrapper::ColumnVector & | x | ||
) | [pure virtual] |
Return a prediction for the mean of the noise on the linear measurement equation, calculated with measurements z and state x.
Reimplemented from BFL::LinearAnalyticMeasurementModelGaussianUncertainty.
virtual const MatrixWrapper::Matrix& BFL::LinearAnalyticMeasurementModelGaussianUncertainty_Implicit::SRCovariance | ( | ) | const [pure virtual] |
Returns square root of the covariance of the measurements z.
virtual const int BFL::LinearAnalyticMeasurementModelGaussianUncertainty_Implicit::TypeGet | ( | ) | const [pure virtual] |