measurement_model.cpp

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//=================================================================================================
// Copyright (c) 2011, Johannes Meyer, TU Darmstadt
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//       TU Darmstadt, nor the names of its contributors may be used to
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#include <hector_pose_estimation/measurement_model.h>

namespace hector_pose_estimation {

MeasurementModel::MeasurementModel(unsigned int dimension, unsigned int conditional_arguments)
  : BFL::AnalyticConditionalGaussianAdditiveNoise(dimension, conditional_arguments == 0 ? 1 : 2)
  , BFL::AnalyticMeasurementModelGaussianUncertainty(this)
  , x_(static_cast<const StateVector&>(ConditionalArgumentGet(0)))
  , u_(conditional_arguments > 0 ? ConditionalArgumentGet(1) : *static_cast<ColumnVector *>(0))
  , y_(dimension)
  , C_(dimension, StateDimension)
  , D_(dimension, conditional_arguments)
{
  C_ = 0.0; D_ = 0.0;
  AdditiveNoiseMuSet(ColumnVector(dimension, 0.0));
  AdditiveNoiseSigmaSet(SymmetricMatrix(dimension) = 0.0);
}

MeasurementModel::~MeasurementModel()
{
}

} // namespace hector_pose_estimation