nonlinearmeasurementpdf.cpp
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00001 // $Id: nonlinearanalyticconditionalgaussianmobile.cpp 5823 2005-10-27 13:43:02Z TDeLaet $
00002 // Copyright (C) 2006  Tinne De Laet <first dot last at mech dot kuleuven dot be>
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 "bayesian_filtering/nonlinearmeasurementpdf.h"
00020 #include <wrappers/rng/rng.h> // Wrapper around several rng libraries
00021 
00022 #define MEASMODEL_NUMCONDARGUMENTS_MOBILE 1
00023 #define MEASMODEL_DIMENSION_MOBILE        3
00024 
00025 namespace BFL
00026 {
00027   using namespace MatrixWrapper;
00028 
00029   NonlinearMeasurementPdf::NonlinearMeasurementPdf(const Gaussian& measNoise)
00030     : ConditionalPdf<ColumnVector,ColumnVector>(MEASMODEL_DIMENSION_MOBILE,MEASMODEL_NUMCONDARGUMENTS_MOBILE)
00031   {
00032     _measNoise = measNoise;
00033   }
00034 
00035 
00036   NonlinearMeasurementPdf::~NonlinearMeasurementPdf(){}
00037 
00038   Probability
00039   NonlinearMeasurementPdf::ProbabilityGet(const ColumnVector& measurement) const
00040   {
00041     ColumnVector state = ConditionalArgumentGet(0);
00042 
00043     ColumnVector expected_measurement(1);
00044     expected_measurement(1) = 2 * state(2);
00045 
00046     return _measNoise.ProbabilityGet(expected_measurement-measurement);
00047   }
00048 
00049 }//namespace BFL


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autogenerated on Sat Jun 8 2019 20:11:55