Class for linear analytic measurementmodels with additive gaussian noise. More...

#include <linearanalyticmeasurementmodel_gaussianuncertainty.h>

Inheritance diagram for BFL::LinearAnalyticMeasurementModelGaussianUncertainty:

Public Member Functions
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...

const MatrixWrapper::Matrix &	HGet () const
	Get Matrix H. More...

void	HSet (const MatrixWrapper::Matrix &h)
	Set Matrix H. More...

const MatrixWrapper::Matrix &	JGet () const
	Get Matrix J. More...

void	JSet (const MatrixWrapper::Matrix &j)
	Set Matrix J. More...

	LinearAnalyticMeasurementModelGaussianUncertainty (LinearAnalyticConditionalGaussian *pdf=NULL)
	Constructor. More...

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

virtual	~LinearAnalyticMeasurementModelGaussianUncertainty ()

Public Member Functions inherited from BFL::AnalyticMeasurementModelGaussianUncertainty
	AnalyticMeasurementModelGaussianUncertainty (AnalyticConditionalGaussian *Measurementpdf=NULL)
	Constructor. 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 for linear analytic measurementmodels with additive gaussian noise.

This class represents all measurementmodels of the form

$z_k = H \times x_k + J \times s_{k} + N(\mu,\Sigma)$

Definition at line 32 of file linearanalyticmeasurementmodel_gaussianuncertainty.h.

Constructor & Destructor Documentation

◆ LinearAnalyticMeasurementModelGaussianUncertainty()

BFL::LinearAnalyticMeasurementModelGaussianUncertainty::LinearAnalyticMeasurementModelGaussianUncertainty ( LinearAnalyticConditionalGaussian * pdf = NULL )

Constructor.

Parameters

pdf	Conditional pdf, with Gaussian uncertainty

Definition at line 30 of file linearanalyticmeasurementmodel_gaussianuncertainty.cpp.

◆ ~LinearAnalyticMeasurementModelGaussianUncertainty()

BFL::LinearAnalyticMeasurementModelGaussianUncertainty::~LinearAnalyticMeasurementModelGaussianUncertainty ( )

virtual

Definition at line 43 of file linearanalyticmeasurementmodel_gaussianuncertainty.cpp.

Member Function Documentation

◆ CovarianceGet()

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

virtual

Returns covariance on the measurement.

Reimplemented from BFL::AnalyticMeasurementModelGaussianUncertainty.

Reimplemented in BFL::LinearAnalyticMeasurementModelGaussianUncertainty_Implicit.

Definition at line 58 of file linearanalyticmeasurementmodel_gaussianuncertainty.cpp.

◆ df_dxGet()

Matrix BFL::LinearAnalyticMeasurementModelGaussianUncertainty::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 from BFL::AnalyticMeasurementModelGaussianUncertainty.

Reimplemented in BFL::LinearAnalyticMeasurementModelGaussianUncertainty_Implicit.

Definition at line 68 of file linearanalyticmeasurementmodel_gaussianuncertainty.cpp.

◆ HGet()

const Matrix & BFL::LinearAnalyticMeasurementModelGaussianUncertainty::HGet ( ) const

Get Matrix H.

Definition at line 92 of file linearanalyticmeasurementmodel_gaussianuncertainty.cpp.

◆ HSet()

void BFL::LinearAnalyticMeasurementModelGaussianUncertainty::HSet ( const MatrixWrapper::Matrix & h )

Set Matrix H.

This can be particularly useful for time-varying systems

Parameters

h Matrix H

Definition at line 78 of file linearanalyticmeasurementmodel_gaussianuncertainty.cpp.

◆ JGet()

const Matrix & BFL::LinearAnalyticMeasurementModelGaussianUncertainty::JGet ( ) const

Get Matrix J.

Definition at line 99 of file linearanalyticmeasurementmodel_gaussianuncertainty.cpp.

◆ JSet()

void BFL::LinearAnalyticMeasurementModelGaussianUncertainty::JSet ( const MatrixWrapper::Matrix & j )

Set Matrix J.

This can be particularly useful for time-varying systems

Parameters

j Matrix J

Definition at line 85 of file linearanalyticmeasurementmodel_gaussianuncertainty.cpp.

◆ PredictionGet()

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