nonlinearanalyticconditionalgaussianmobile.cpp
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```00001 // \$Id: nonlinearanalyticconditionalgaussianmobile.cpp 5823 2005-10-27 13:43:02Z TDeLaet \$
00002 // Copyright (C) 2006  Tinne De Laet <first dot last at mech dot kuleuven dot be>
00003 //
00004 // This program is free software; you can redistribute it and/or modify
00006 // the Free Software Foundation; either version 2.1 of the License, or
00007 // (at your option) any later version.
00008 //
00009 // This program is distributed in the hope that it will be useful,
00010 // but WITHOUT ANY WARRANTY; without even the implied warranty of
00011 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00012 // GNU Lesser General Public License for more details.
00013 //
00014 // You should have received a copy of the GNU Lesser General Public License
00015 // along with this program; if not, write to the Free Software
00016 // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
00017 //
00018
00019 #include "nonlinearanalyticconditionalgaussianmobile.h"
00020 #include <wrappers/rng/rng.h> // Wrapper around several rng
00021                                  // libraries
00022 #define NUMCONDARGUMENTS_MOBILE 2
00023
00024 namespace BFL
00025 {
00026   using namespace MatrixWrapper;
00027
00028
00031   {
00032   }
00033
00034
00035   NonLinearAnalyticConditionalGaussianMobile::~NonLinearAnalyticConditionalGaussianMobile(){}
00036
00037   ColumnVector NonLinearAnalyticConditionalGaussianMobile::ExpectedValueGet() const
00038   {
00039     ColumnVector state = ConditionalArgumentGet(0);
00040     ColumnVector vel  = ConditionalArgumentGet(1);
00041     state(1) += cos(state(3)) * vel(1);
00042     state(2) += sin(state(3)) * vel(1);
00043     state(3) += vel(2);
00045   }
00046
00047   Matrix NonLinearAnalyticConditionalGaussianMobile::dfGet(unsigned int i) const
00048   {
00049     if (i==0)//derivative to the first conditional argument (x)
00050       {
00051         ColumnVector state = ConditionalArgumentGet(0);
00052         ColumnVector vel = ConditionalArgumentGet(1);
00053         Matrix df(3,3);
00054         df(1,1)=1;
00055         df(1,2)=0;
00056         df(1,3)=-vel(1)*sin(state(3));
00057         df(2,1)=0;
00058         df(2,2)=1;
00059         df(2,3)=vel(1)*cos(state(3));
00060         df(3,1)=0;
00061         df(3,2)=0;
00062         df(3,3)=1;
00063         return df;
00064       }
00065     else
00066       {
00067         if (i >= NumConditionalArgumentsGet())
00068           {
00069             cerr << "This pdf Only has " << NumConditionalArgumentsGet() << " conditional arguments\n";
00070             exit(-BFL_ERRMISUSE);
00071           }
00072         else{
00073           cerr << "The df is not implemented for the" <<i << "th conditional argument\n";
00074           exit(-BFL_ERRMISUSE);
00075         }
00076       }
00077   }
00078
00079 }//namespace BFL
00080
```

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 Fri Aug 28 2015 10:10:21