nonlinearanalyticmeasurementmodel_gaussianuncertainty_ginac.h
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00001 // $Id$
00002 // Copyright (C) 2002 Klaas Gadeyne <first dot last at gmail dot com>
00003 //                    Wim Meeussen  <wim dot meeussen at mech dot kuleuven dot ac dot be>
00004 //
00005 // This program is free software; you can redistribute it and/or modify
00006 // it under the terms of the GNU Lesser General Public License as published by
00007 // the Free Software Foundation; either version 2.1 of the License, or
00008 // (at your option) any later version.
00009 //
00010 // This program is distributed in the hope that it will be useful,
00011 // but WITHOUT ANY WARRANTY; without even the implied warranty of
00012 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00013 // GNU Lesser General Public License for more details.
00014 //
00015 // You should have received a copy of the GNU Lesser General Public License
00016 // along with this program; if not, write to the Free Software
00017 // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
00018 //
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       //  NonLinearAnalyticMeasurementModelGaussianUncertainty_Ginac(const NonLinearAnalyticMeasurementModelGaussianUncertainty_Ginac& model);
00051 
00053       virtual ~NonLinearAnalyticMeasurementModelGaussianUncertainty_Ginac();
00054 
00056       // Not yet implemented
00057       /*
00058          friend std::ostream& operator<< (std::ostream& os,
00059          NonLinearAnalyticMeasurementModelGaussianUncertainty_Ginac&
00060       //m);
00061       */
00062 
00063       // redefinition of virtual functions
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 } // End namespace BFL
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