#include <analyticmeasurementmodel_gaussianuncertainty.h>

Inheritance diagram for BFL::AnalyticMeasurementModelGaussianUncertainty:

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Public Member Functions
	AnalyticMeasurementModelGaussianUncertainty (AnalyticConditionalGaussian *Measurementpdf=NULL)
	Constructor. More...

virtual MatrixWrapper::SymmetricMatrix	CovarianceGet (const MatrixWrapper::ColumnVector &u, const MatrixWrapper::ColumnVector &x)
	Returns covariance on the measurement. More...

virtual MatrixWrapper::Matrix	df_dxGet (const MatrixWrapper::ColumnVector &u, const MatrixWrapper::ColumnVector &x)
	Returns H-matrix. More...

virtual MatrixWrapper::ColumnVector	PredictionGet (const MatrixWrapper::ColumnVector &u, const MatrixWrapper::ColumnVector &x)
	Returns estimation of measurement. More...

virtual	~AnalyticMeasurementModelGaussianUncertainty ()
	Destructor. More...

Public Member Functions inherited from BFL::MeasurementModel< MatrixWrapper::ColumnVector, MatrixWrapper::ColumnVector >
	MeasurementModel (ConditionalPdf< MatrixWrapper::ColumnVector, MatrixWrapper::ColumnVector > *Measurementpdf=NULL)
	Constructor. More...

ConditionalPdf< MatrixWrapper::ColumnVector, MatrixWrapper::ColumnVector > *	MeasurementPdfGet ()
	Get the MeasurementPDF. More...

void	MeasurementPdfSet (ConditionalPdf< MatrixWrapper::ColumnVector, MatrixWrapper::ColumnVector > *pdf)
	Set the MeasurementPDF. More...

int	MeasurementSizeGet () const
	Get Measurement Size. More...

Probability	ProbabilityGet (const MatrixWrapper::ColumnVector &z, const MatrixWrapper::ColumnVector &x, const MatrixWrapper::ColumnVector &s)
	Get the probability of a certain measurement. More...

Probability	ProbabilityGet (const MatrixWrapper::ColumnVector &z, const MatrixWrapper::ColumnVector &x)
	Get the probability of a certain measurement. More...

MatrixWrapper::ColumnVector	Simulate (const MatrixWrapper::ColumnVector &x, const MatrixWrapper::ColumnVector &s, int sampling_method=DEFAULT, void *sampling_args=NULL)
	Simulate the Measurement, given a certain state, and an input. More...

MatrixWrapper::ColumnVector	Simulate (const MatrixWrapper::ColumnVector &x, int sampling_method=DEFAULT, void *sampling_args=NULL)
	Simulate the system (no input system) More...

bool	SystemWithoutSensorParams () const
	Number of Conditional Arguments. More...

virtual	~MeasurementModel ()
	Destructor. More...

Additional Inherited Members
Protected Attributes inherited from BFL::MeasurementModel< MatrixWrapper::ColumnVector, MatrixWrapper::ColumnVector >
ConditionalPdf< MatrixWrapper::ColumnVector, MatrixWrapper::ColumnVector > *	_MeasurementPdf
	ConditionalPdf representing $P(Z_k \| X_{k}, U_{k})$ . More...

bool	_systemWithoutSensorParams
	System with no sensor params?? More...

Detailed Description

Class representing all continuous analytic Measurement Models with additive Gaussian Uncertainty

Definition at line 30 of file analyticmeasurementmodel_gaussianuncertainty.h.

Constructor & Destructor Documentation

BFL::AnalyticMeasurementModelGaussianUncertainty::AnalyticMeasurementModelGaussianUncertainty ( AnalyticConditionalGaussian * Measurementpdf = NULL )

Constructor.

Parameters

Measurementpdf ConditionalPdf<S,T> representing $P(Z_k | X_{k} (, U_{k}))$

See also: MEASUREMENT_SIZE, STATE_SIZE, INPUT_SIZE, _MeasurementPdf

Definition at line 28 of file analyticmeasurementmodel_gaussianuncertainty.cpp.

BFL::AnalyticMeasurementModelGaussianUncertainty::~AnalyticMeasurementModelGaussianUncertainty ( )

virtual

Destructor.

Definition at line 33 of file analyticmeasurementmodel_gaussianuncertainty.cpp.

Member Function Documentation

SymmetricMatrix BFL::AnalyticMeasurementModelGaussianUncertainty::CovarianceGet	(	const MatrixWrapper::ColumnVector &	u,
		const MatrixWrapper::ColumnVector &	x
	)

virtual

Returns covariance on the measurement.

Reimplemented in BFL::LinearAnalyticMeasurementModelGaussianUncertainty_Implicit, BFL::NonLinearAnalyticMeasurementModelGaussianUncertainty_Ginac, and BFL::LinearAnalyticMeasurementModelGaussianUncertainty.

Definition at line 56 of file analyticmeasurementmodel_gaussianuncertainty.cpp.

Matrix BFL::AnalyticMeasurementModelGaussianUncertainty::df_dxGet	(	const MatrixWrapper::ColumnVector &	u,
		const MatrixWrapper::ColumnVector &	x
	)

virtual

Returns H-matrix.

$H = \frac{df}{dx} \mid_{u,x}$

used by extended kalman filter

Parameters

u	The value of the input in which the derivate is evaluated
x	The value in the state in which the derivate is evaluated

Reimplemented in BFL::NonLinearAnalyticMeasurementModelGaussianUncertainty_Ginac, BFL::LinearAnalyticMeasurementModelGaussianUncertainty_Implicit, and BFL::LinearAnalyticMeasurementModelGaussianUncertainty.

Definition at line 38 of file analyticmeasurementmodel_gaussianuncertainty.cpp.

ColumnVector BFL::AnalyticMeasurementModelGaussianUncertainty::PredictionGet	(	const MatrixWrapper::ColumnVector &	u,
		const MatrixWrapper::ColumnVector &	x
	)

virtual

Returns estimation of measurement.

Reimplemented in BFL::LinearAnalyticMeasurementModelGaussianUncertainty_Implicit, BFL::NonLinearAnalyticMeasurementModelGaussianUncertainty_Ginac, and BFL::LinearAnalyticMeasurementModelGaussianUncertainty.

Definition at line 47 of file analyticmeasurementmodel_gaussianuncertainty.cpp.

The documentation for this class was generated from the following files:

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation