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00032 #ifndef __MEASUREMENT_MODEL__
00033 #define __MEASUREMENT_MODEL__
00034
00035 #include "../pdf/conditionalpdf.h"
00036
00037 namespace BFL
00038 {
00039
00040 #define NUMBER_OF_CONDITIONAL_ARGS 2
00041
00053 template<typename MeasVar, typename StateVar> class MeasurementModel {
00054 protected:
00056
00057
00058
00059
00060
00061
00062 ConditionalPdf<MeasVar,StateVar>* _MeasurementPdf;
00063
00065 bool _systemWithoutSensorParams;
00066
00067 public:
00069
00073 MeasurementModel(ConditionalPdf<MeasVar,StateVar>* Measurementpdf=NULL);
00075 virtual ~MeasurementModel();
00076
00078 int MeasurementSizeGet() const;
00079
00081 bool SystemWithoutSensorParams() const;
00082
00084 ConditionalPdf<MeasVar,StateVar> * MeasurementPdfGet();
00085
00087
00089 void MeasurementPdfSet(ConditionalPdf<MeasVar,StateVar> * pdf);
00090
00092
00103 MeasVar Simulate (const StateVar& x, const StateVar& s, int sampling_method = DEFAULT, void * sampling_args = NULL);
00104
00106
00116 MeasVar Simulate (const StateVar& x, int sampling_method = DEFAULT, void * sampling_args = NULL);
00117
00119
00125 Probability ProbabilityGet(const MeasVar& z, const StateVar& x, const StateVar& s );
00126
00128
00134 Probability ProbabilityGet(const MeasVar& z, const StateVar& x );
00135 };
00136
00137 #include "measurementmodel.cpp"
00138
00139 }
00140
00141 #endif // __MEASUREMENT_MODEL__
bfl
Author(s): Klaas Gadeyne, Wim Meeussen, Tinne Delaet and many others. See web page for a full contributor list. ROS package maintained by Wim Meeussen.
autogenerated on Sun Oct 5 2014 22:29:53