nonlinearanalyticconditionalgaussianodo.h
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00001 // Copyright (C) 2008 Wim Meeussen <meeussen at willowgarage com>
00002 //  
00003 // This program is free software; you can redistribute it and/or modify
00004 // it under the terms of the GNU Lesser General Public License as published by
00005 // the Free Software Foundation; either version 2.1 of the License, or
00006 // (at your option) any later version.
00007 //  
00008 // This program is distributed in the hope that it will be useful,
00009 // but WITHOUT ANY WARRANTY; without even the implied warranty of
00010 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00011 // GNU Lesser General Public License for more details.
00012 //  
00013 // You should have received a copy of the GNU Lesser General Public License
00014 // along with this program; if not, write to the Free Software
00015 // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
00016 //  
00017 
00018 
00019 #ifndef __NON_LINEAR_SYSTEM_CONDITIONAL_GAUSSIAN_ODO__
00020 #define __NON_LINEAR_SYSTEM_CONDITIONAL_GAUSSIAN_ODO__
00021 
00022 #include <bfl/pdf/analyticconditionalgaussian_additivenoise.h>
00023 
00024 namespace BFL
00025 {
00027 
00033   class NonLinearAnalyticConditionalGaussianOdo : public AnalyticConditionalGaussianAdditiveNoise
00034   {
00035     public:
00037 
00043       NonLinearAnalyticConditionalGaussianOdo( const Gaussian& additiveNoise);
00044 
00046       virtual ~NonLinearAnalyticConditionalGaussianOdo();
00047 
00048       // redefine virtual functions
00049       virtual MatrixWrapper::ColumnVector    ExpectedValueGet() const;
00050       virtual MatrixWrapper::Matrix          dfGet(unsigned int i)       const;
00051 
00052     private:
00053       mutable MatrixWrapper::Matrix df;
00054     };
00055 
00056 } // End namespace BFL
00057  
00058 #endif //  


robot_pose_ekf
Author(s): Wim Meeussen, contradict@gmail.com
autogenerated on Thu Aug 27 2015 14:07:38