nonlinearmeasurementpdf.h
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00001 // $Id: nonlinearanalyticconditionalgaussianmobile.h 5374 2005-05-06 14:57:05Z 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 
00020 #ifndef __NON_LINEAR_MEAS_MOBILE__
00021 #define __NON_LINEAR_MEAS_MOBILE__
00022 
00023 #include <pdf/conditionalpdf.h>
00024 #include <pdf/gaussian.h>
00025 
00026 namespace BFL
00027 {
00029   class NonlinearMeasurementPdf : public ConditionalPdf<MatrixWrapper::ColumnVector, MatrixWrapper::ColumnVector>
00030     {
00031     public:
00033 
00036       NonlinearMeasurementPdf( const Gaussian& measNoise);
00037 
00039       virtual ~NonlinearMeasurementPdf();
00040 
00041       // implement this virtual function for measurement model of a particle filter
00042       virtual Probability ProbabilityGet(const MatrixWrapper::ColumnVector& measurement) const;
00043 
00044     private:
00045       Gaussian _measNoise;
00046 
00047     };
00048 
00049 } // End namespace BFL
00050 
00051 #endif //


ekf_localization
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autogenerated on Sat Jun 8 2019 20:11:55