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_SYSTEM_MOBILE__ 00021 #define __NON_LINEAR_SYSTEM_MOBILE__ 00022 00023 #include <pdf/conditionalpdf.h> 00024 #include <pdf/gaussian.h> 00025 00026 namespace BFL 00027 { 00029 class NonlinearSystemPdf : public ConditionalPdf<MatrixWrapper::ColumnVector, MatrixWrapper::ColumnVector> 00030 { 00031 public: 00033 00035 NonlinearSystemPdf( const Gaussian& additiveNoise); 00036 00038 virtual ~NonlinearSystemPdf(); 00039 00040 // implement this virtual function for system model of a particle filter 00041 virtual bool SampleFrom (Sample<MatrixWrapper::ColumnVector>& one_sample, int method=DEFAULT, void * args=NULL) const; 00042 00043 virtual void AdditiveNoiseSigmaSet(const MatrixWrapper::SymmetricMatrix &sigma); 00044 private: 00045 Gaussian _additiveNoise; 00046 00047 }; 00048 00049 } // End namespace BFL 00050 00051 #endif //