22 #define NUMCONDARGUMENTS_MOBILE 2 41 state(1) += cos(state(3)) * vel(1);
42 state(2) += sin(state(3)) * vel(1);
58 df(1,3)=-vel(1)*sin(state(3));
61 df(2,3)=vel(1)*cos(state(3));
69 cerr <<
"The df is not implemented for the" <<i <<
"th conditional argument\n";
NonLinearAnalyticConditionalGaussianMobile(const Gaussian &additiveNoise)
Constructor.
virtual ~NonLinearAnalyticConditionalGaussianMobile()
Destructor.
Class representing Gaussian (or normal density)
Abstract Class representing all full Analytical Conditional gaussians with Additive Gaussian Noise...
const MatrixWrapper::ColumnVector & ConditionalArgumentGet(unsigned int n_argument) const
Get the n-th argument of the list.
#define NUMCONDARGUMENTS_MOBILE
virtual MatrixWrapper::ColumnVector ExpectedValueGet() const
Get the expected value E[x] of the pdf.
const MatrixWrapper::ColumnVector & AdditiveNoiseMuGet() const
Get the mean Value of the Additive Gaussian uncertainty.
unsigned int NumConditionalArgumentsGet() const
Get the Number of conditional arguments.
virtual MatrixWrapper::Matrix dfGet(unsigned int i) const
returns derivative from function to n-th conditional variable