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 #ifndef __LINEAR_MEASUREMENT_MODEL_GAUSSIAN_UNCERTAINTY_IMPLICIT__ 00019 #define __LINEAR_MEASUREMENT_MODEL_GAUSSIAN_UNCERTAINTY_IMPLICIT__ 00020 00021 00022 #include "../pdf/gaussian.h" 00023 #include "../pdf/linearanalyticconditionalgaussian.h" 00024 #include "linearanalyticmeasurementmodel_gaussianuncertainty.h" 00025 00026 namespace BFL 00027 { 00028 00030 // derived from an implicit measurement equation $h(x,z)=0$ 00031 // 00037 class LinearAnalyticMeasurementModelGaussianUncertainty_Implicit : public LinearAnalyticMeasurementModelGaussianUncertainty 00038 { 00039 public: 00041 00043 LinearAnalyticMeasurementModelGaussianUncertainty_Implicit( LinearAnalyticConditionalGaussian* pdf); 00045 LinearAnalyticMeasurementModelGaussianUncertainty_Implicit(); 00046 00047 // Default Copy constructor will do 00048 // LinearAnalyticMeasurementModelGaussianUncertainty_Implicit(const LinearAnalyticMeasurementModelGaussianUncertainty_Implicit& l); 00049 00051 virtual ~LinearAnalyticMeasurementModelGaussianUncertainty_Implicit(); 00052 00053 // redefinition of virtual functions 00054 // 00055 virtual const MatrixWrapper::ColumnVector& fGet () const =0; 00056 virtual const int TypeGet () const=0; 00057 virtual MatrixWrapper::Matrix& dfGet (int number) =0 ; 00059 00063 virtual MatrixWrapper::Matrix df_dxGet (const MatrixWrapper::ColumnVector& z, const MatrixWrapper::ColumnVector& x) =0; 00065 00069 virtual MatrixWrapper::Matrix& df_dzGet (const MatrixWrapper::ColumnVector& z, const MatrixWrapper::ColumnVector& x)=0; 00071 virtual MatrixWrapper::ColumnVector PredictionGet(const MatrixWrapper::ColumnVector& z, const MatrixWrapper::ColumnVector& x)=0; 00073 virtual MatrixWrapper::ColumnVector ExpectedValueGet()=0; 00075 00083 virtual MatrixWrapper::SymmetricMatrix& CovarianceGet()=0; 00085 00093 virtual MatrixWrapper::SymmetricMatrix CovarianceGet(const MatrixWrapper::ColumnVector& z, const MatrixWrapper::ColumnVector& x)=0; 00094 virtual void Calculate(const MatrixWrapper::ColumnVector& x ,const MatrixWrapper::ColumnVector& z,const MatrixWrapper::Matrix& R)=0; 00095 00097 virtual const MatrixWrapper::Matrix& SRCovariance() const=0; 00099 virtual const int& Is_Identity() const=0; 00100 }; 00101 } // End namespace BFL 00102 00103 #endif // __LINEAR_MEASUREMENT_MODEL_GAUSSIAN_UNCERTAINTY__