00001 // $Id$ 00002 // Copyright (C) 2002 Klaas Gadeyne <first dot last at gmail dot com> 00003 // 00004 // This program is free software; you can redistribute it and/or modify 00005 // it under the terms of the GNU Lesser General Public License as published by 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 "analyticsystemmodel_gaussianuncertainty.h" 00020 00021 namespace BFL 00022 { 00023 00024 using namespace MatrixWrapper; 00025 00026 00027 // Constructor 00028 AnalyticSystemModelGaussianUncertainty::AnalyticSystemModelGaussianUncertainty 00029 (AnalyticConditionalGaussian* Systempdf) 00030 : SystemModel<ColumnVector>(Systempdf) 00031 {} 00032 00033 // Copy constructor 00034 /* 00035 AnalyticSystemModelGaussianUncertainty::AnalyticSystemModelGaussianUncertainty 00036 (const AnalyticSystemModelGaussianUncertainty& model) 00037 : SystemModel<ColumnVector>(&(model.SystemPdfGet())) 00038 {} 00039 */ 00040 00041 // Destructor 00042 AnalyticSystemModelGaussianUncertainty::~AnalyticSystemModelGaussianUncertainty() 00043 {} 00044 00045 00046 Matrix 00047 AnalyticSystemModelGaussianUncertainty::df_dxGet(const ColumnVector& u, const ColumnVector& x) 00048 { 00049 SystemPdfGet()->ConditionalArgumentSet(0,x); 00050 if (SystemPdfGet()->NumConditionalArgumentsGet() == 2) SystemPdfGet()->ConditionalArgumentSet(1,u); 00051 return dynamic_cast<AnalyticConditionalGaussian *>(SystemPdfGet())->dfGet(0); 00052 } 00053 00054 00055 ColumnVector 00056 AnalyticSystemModelGaussianUncertainty::PredictionGet(const ColumnVector& u, const ColumnVector& x) 00057 { 00058 SystemPdfGet()->ConditionalArgumentSet(0,x); 00059 if (SystemPdfGet()->NumConditionalArgumentsGet() == 2) SystemPdfGet()->ConditionalArgumentSet(1,u); 00060 return SystemPdfGet()->ExpectedValueGet(); 00061 } 00062 00063 00064 SymmetricMatrix 00065 AnalyticSystemModelGaussianUncertainty::CovarianceGet(const ColumnVector& u, const ColumnVector& x) 00066 { 00067 SystemPdfGet()->ConditionalArgumentSet(0,x); 00068 if (SystemPdfGet()->NumConditionalArgumentsGet() == 2) SystemPdfGet()->ConditionalArgumentSet(1,u); 00069 return dynamic_cast<AnalyticConditionalGaussian *>(SystemPdfGet())->CovarianceGet(); 00070 } 00071 00072 00073 } // End namespace BFL