nonlinearMeasurementPdf.cpp
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1 // $Id: nonlinearanalyticconditionalgaussianmobile.cpp 5823 2005-10-27 13:43:02Z TDeLaet $
2 // Copyright (C) 2006 Tinne De Laet <first dot last at mech dot kuleuven dot be>
3 //
4 // This program is free software; you can redistribute it and/or modify
5 // it under the terms of the GNU Lesser General Public License as published by
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8 //
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12 // GNU Lesser General Public License for more details.
13 //
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18 
20 #include <wrappers/rng/rng.h> // Wrapper around several rng libraries
21 
22 #define MEASMODEL_NUMCONDARGUMENTS_MOBILE 1
23 #define MEASMODEL_DIMENSION_MOBILE 3
24 
25 namespace BFL
26 {
27  using namespace MatrixWrapper;
28 
31  {
32  _measNoise = measNoise;
33  }
34 
35 
37 
39  NonlinearMeasurementPdf::ProbabilityGet(const ColumnVector& measurement) const
40  {
41  ColumnVector state = ConditionalArgumentGet(0);
42 
43  ColumnVector expected_measurement(1);
44  expected_measurement(1) = 2 * state(2);
45 
46  return _measNoise.ProbabilityGet(expected_measurement-measurement);
47  }
48 
49 }//namespace BFL
50 
virtual Probability ProbabilityGet(const MatrixWrapper::ColumnVector &input) const
Get the probability of a certain argument.
Definition: gaussian.cpp:75
#define MEASMODEL_DIMENSION_MOBILE
Class representing Gaussian (or normal density)
Definition: gaussian.h:27
virtual ~NonlinearMeasurementPdf()
Destructor.
const MatrixWrapper::ColumnVector & ConditionalArgumentGet(unsigned int n_argument) const
Get the n-th argument of the list.
#define MEASMODEL_NUMCONDARGUMENTS_MOBILE
NonlinearMeasurementPdf(const Gaussian &measNoise)
Constructor.
Abstract Class representing conditional Pdfs P(x | ...)
Class representing a probability (a double between 0 and 1)
Definition: bfl_constants.h:39
virtual Probability ProbabilityGet(const MatrixWrapper::ColumnVector &measurement) const
Get the probability of a certain argument.


bfl
Author(s): Klaas Gadeyne, Wim Meeussen, Tinne Delaet and many others. See web page for a full contributor list. ROS package maintained by Wim Meeussen.
autogenerated on Mon Feb 28 2022 21:56:33