nonlinearanalyticmeasurementmodel_gaussianuncertainty_ginac.h

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// $Id$
// Copyright (C) 2002 Klaas Gadeyne <first dot last at gmail dot com>
//                    Wim Meeussen  <wim dot meeussen at mech dot kuleuven dot ac dot be>
//
// 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 __NON_LINEAR_MEASUREMENT_MODEL_GAUSSIAN_UNCERTAINTY_GINAC__
#define __NON_LINEAR_MEASUREMENT_MODEL_GAUSSIAN_UNCERTAINTY_GINAC__

#include "analyticmeasurementmodel_gaussianuncertainty.h"
#include "../pdf/gaussian.h"
#include "../pdf/nonlinearanalyticconditionalgaussian_ginac.h"
#include <ginac/ginac.h>
#include <vector>
#include <iostream>

namespace BFL
{

  using namespace std;


  class NonLinearAnalyticMeasurementModelGaussianUncertainty_Ginac :
    public AnalyticMeasurementModelGaussianUncertainty
    {

    public:

      NonLinearAnalyticMeasurementModelGaussianUncertainty_Ginac(NonLinearAnalyticConditionalGaussian_Ginac* const pdf);

      //  NonLinearAnalyticMeasurementModelGaussianUncertainty_Ginac(const NonLinearAnalyticMeasurementModelGaussianUncertainty_Ginac& model);

      virtual ~NonLinearAnalyticMeasurementModelGaussianUncertainty_Ginac();

      // Not yet implemented
      /*
         friend std::ostream& operator<< (std::ostream& os,
         NonLinearAnalyticMeasurementModelGaussianUncertainty_Ginac&
      //m);
      */

      // redefinition of virtual functions
      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);

      GiNaC::matrix FunctionGet();

      vector<GiNaC::symbol> StateGet();

      vector<GiNaC::symbol> InputGet();

      vector<GiNaC::symbol> ConditionalGet();

    };

} // End namespace BFL

#endif // __NON_LINEAR_MEASUREMENT_MODEL_GAUSSIAN_UNCERTAINTY_GINAC__