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00019 #include "analyticmeasurementmodel_gaussianuncertainty.h"
00020
00021 namespace BFL
00022 {
00023
00024 using namespace MatrixWrapper;
00025
00026
00027 AnalyticMeasurementModelGaussianUncertainty::AnalyticMeasurementModelGaussianUncertainty
00028 (AnalyticConditionalGaussian* Measurementpdf)
00029 : MeasurementModel<ColumnVector,ColumnVector>(Measurementpdf)
00030 {}
00031
00032
00033 AnalyticMeasurementModelGaussianUncertainty::~AnalyticMeasurementModelGaussianUncertainty()
00034 {}
00035
00036
00037 Matrix
00038 AnalyticMeasurementModelGaussianUncertainty::df_dxGet(const ColumnVector& u, const ColumnVector& x)
00039 {
00040 MeasurementPdfGet()->ConditionalArgumentSet(0,x);
00041 if (MeasurementPdfGet()->NumConditionalArgumentsGet() == 2) MeasurementPdfGet()->ConditionalArgumentSet(1,u);
00042 return dynamic_cast<AnalyticConditionalGaussian *>(MeasurementPdfGet())->dfGet(0);
00043 }
00044
00045
00046 ColumnVector
00047 AnalyticMeasurementModelGaussianUncertainty::PredictionGet(const ColumnVector& u, const ColumnVector& x)
00048 {
00049 MeasurementPdfGet()->ConditionalArgumentSet(0,x);
00050 if (MeasurementPdfGet()->NumConditionalArgumentsGet() == 2) MeasurementPdfGet()->ConditionalArgumentSet(1,u);
00051 return MeasurementPdfGet()->ExpectedValueGet();
00052 }
00053
00054
00055 SymmetricMatrix
00056 AnalyticMeasurementModelGaussianUncertainty::CovarianceGet(const ColumnVector& u, const ColumnVector& x)
00057 {
00058 MeasurementPdfGet()->ConditionalArgumentSet(0,x);
00059 if (MeasurementPdfGet()->NumConditionalArgumentsGet() == 2) MeasurementPdfGet()->ConditionalArgumentSet(1,u);
00060 return dynamic_cast<AnalyticConditionalGaussian *>(MeasurementPdfGet())->CovarianceGet();
00061 }
00062
00063 }
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 Mon Feb 11 2019 03:45:12