linearanalyticmeasurementmodel_gaussianuncertainty_implicit.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 __LINEAR_MEASUREMENT_MODEL_GAUSSIAN_UNCERTAINTY_IMPLICIT__
#define __LINEAR_MEASUREMENT_MODEL_GAUSSIAN_UNCERTAINTY_IMPLICIT__


#include "../pdf/gaussian.h"
#include "../pdf/linearanalyticconditionalgaussian.h"
#include "linearanalyticmeasurementmodel_gaussianuncertainty.h"

namespace BFL
{

  // derived from an implicit measurement equation $h(x,z)=0$
  //
  class LinearAnalyticMeasurementModelGaussianUncertainty_Implicit : public LinearAnalyticMeasurementModelGaussianUncertainty
    {
    public:

      LinearAnalyticMeasurementModelGaussianUncertainty_Implicit( LinearAnalyticConditionalGaussian* pdf);
      LinearAnalyticMeasurementModelGaussianUncertainty_Implicit();

      // Default Copy constructor will do
      // LinearAnalyticMeasurementModelGaussianUncertainty_Implicit(const LinearAnalyticMeasurementModelGaussianUncertainty_Implicit& l);

      virtual ~LinearAnalyticMeasurementModelGaussianUncertainty_Implicit();

      // redefinition of virtual functions
      //
      virtual const     MatrixWrapper::ColumnVector&    fGet     () const =0;
      virtual const     int        TypeGet     ()  const=0;
      virtual           MatrixWrapper::Matrix&          dfGet     (int number)  =0 ;

      virtual MatrixWrapper::Matrix          df_dxGet     (const MatrixWrapper::ColumnVector& z, const MatrixWrapper::ColumnVector& x) =0;

      virtual MatrixWrapper::Matrix&          df_dzGet     (const MatrixWrapper::ColumnVector& z, const MatrixWrapper::ColumnVector& x)=0;
      virtual MatrixWrapper::ColumnVector    PredictionGet(const MatrixWrapper::ColumnVector& z, const MatrixWrapper::ColumnVector& x)=0;
      virtual MatrixWrapper::ColumnVector    ExpectedValueGet()=0;

      virtual MatrixWrapper::SymmetricMatrix& CovarianceGet()=0;

      virtual MatrixWrapper::SymmetricMatrix CovarianceGet(const MatrixWrapper::ColumnVector& z, const MatrixWrapper::ColumnVector& x)=0;
      virtual void            Calculate(const MatrixWrapper::ColumnVector& x ,const  MatrixWrapper::ColumnVector& z,const MatrixWrapper::Matrix& R)=0;

      virtual const          MatrixWrapper::Matrix&          SRCovariance() const=0;
      virtual const          int&                            Is_Identity()  const=0;
    };
} // End namespace BFL

#endif // __LINEAR_MEASUREMENT_MODEL_GAUSSIAN_UNCERTAINTY__