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00019 #ifndef __NON_LINEAR_MEASUREMENT_MODEL_GAUSSIAN_UNCERTAINTY_GINAC__
00020 #define __NON_LINEAR_MEASUREMENT_MODEL_GAUSSIAN_UNCERTAINTY_GINAC__
00021
00022 #include "analyticmeasurementmodel_gaussianuncertainty.h"
00023 #include "../pdf/gaussian.h"
00024 #include "../pdf/nonlinearanalyticconditionalgaussian_ginac.h"
00025 #include <ginac/ginac.h>
00026 #include <vector>
00027 #include <iostream>
00028
00029 namespace BFL
00030 {
00031
00032 using namespace std;
00033
00035
00039 class NonLinearAnalyticMeasurementModelGaussianUncertainty_Ginac :
00040 public AnalyticMeasurementModelGaussianUncertainty
00041 {
00042
00043 public:
00045
00047 NonLinearAnalyticMeasurementModelGaussianUncertainty_Ginac(NonLinearAnalyticConditionalGaussian_Ginac* const pdf);
00048
00050
00051
00053 virtual ~NonLinearAnalyticMeasurementModelGaussianUncertainty_Ginac();
00054
00056
00057
00058
00059
00060
00061
00062
00063
00064 virtual MatrixWrapper::Matrix df_dxGet (const MatrixWrapper::ColumnVector& u,
00065 const MatrixWrapper::ColumnVector& x);
00066 virtual MatrixWrapper::ColumnVector PredictionGet(const MatrixWrapper::ColumnVector& u,
00067 const MatrixWrapper::ColumnVector& x);
00068 virtual MatrixWrapper::SymmetricMatrix CovarianceGet(const MatrixWrapper::ColumnVector& u,
00069 const MatrixWrapper::ColumnVector& x);
00070
00072 GiNaC::matrix FunctionGet();
00073
00075 vector<GiNaC::symbol> StateGet();
00076
00078 vector<GiNaC::symbol> InputGet();
00079
00081 vector<GiNaC::symbol> ConditionalGet();
00082
00083 };
00084
00085 }
00086
00087 #endif // __NON_LINEAR_MEASUREMENT_MODEL_GAUSSIAN_UNCERTAINTY_GINAC__
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