analyticmeasurementmodel_gaussianuncertainty.h

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// $Id$
// Copyright (C) 2002 Klaas Gadeyne <first dot last at gmail dot com>
//
// This program is free software; you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation; either version 2.1 of the License, or
// (at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
//
#ifndef __MEASUREMENT_MODEL_GAUSSIANUNCERTAINTY__
#define __MEASUREMENT_MODEL_GAUSSIANUNCERTAINTY__

#include "../pdf/analyticconditionalgaussian.h"
#include "measurementmodel.h"

namespace BFL
{

  class AnalyticMeasurementModelGaussianUncertainty: public MeasurementModel<MatrixWrapper::ColumnVector,MatrixWrapper::ColumnVector>
    {
    public:

      AnalyticMeasurementModelGaussianUncertainty(AnalyticConditionalGaussian* Measurementpdf = NULL);

      // default Copy Constructor, interface class

      virtual ~AnalyticMeasurementModelGaussianUncertainty();


      virtual MatrixWrapper::Matrix df_dxGet(const MatrixWrapper::ColumnVector& u, const MatrixWrapper::ColumnVector& x);

      virtual MatrixWrapper::ColumnVector PredictionGet(const MatrixWrapper::ColumnVector& u, const MatrixWrapper::ColumnVector& x);

      virtual MatrixWrapper::SymmetricMatrix CovarianceGet(const MatrixWrapper::ColumnVector& u, const MatrixWrapper::ColumnVector& x);


    };

} // End namespace BFL

#endif // __MEASUREMENT_MODEL_GAUSSIANUNCERTAINTY__