00001 // $Id$ 00002 // Copyright (C) 2002 Klaas Gadeyne <first dot last at gmail dot com> 00003 // 00004 // This program is free software; you can redistribute it and/or modify 00005 // it under the terms of the GNU Lesser General Public License as published by 00006 // the Free Software Foundation; either version 2.1 of the License, or 00007 // (at your option) any later version. 00008 // 00009 // This program is distributed in the hope that it will be useful, 00010 // but WITHOUT ANY WARRANTY; without even the implied warranty of 00011 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00012 // GNU Lesser General Public License for more details. 00013 // 00014 // You should have received a copy of the GNU Lesser General Public License 00015 // along with this program; if not, write to the Free Software 00016 // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. 00017 // 00018 #ifndef __LINEAR_MEASUREMENT_MODEL_GAUSSIAN_UNCERTAINTY__ 00019 #define __LINEAR_MEASUREMENT_MODEL_GAUSSIAN_UNCERTAINTY__ 00020 00021 #include "analyticmeasurementmodel_gaussianuncertainty.h" 00022 #include "../pdf/gaussian.h" 00023 #include "../pdf/linearanalyticconditionalgaussian.h" 00024 00025 namespace BFL 00026 { 00027 00029 00032 class LinearAnalyticMeasurementModelGaussianUncertainty : 00033 public AnalyticMeasurementModelGaussianUncertainty 00034 { 00035 public: 00037 00039 LinearAnalyticMeasurementModelGaussianUncertainty( LinearAnalyticConditionalGaussian* pdf = NULL); 00040 00041 // Default Copy constructor will do 00042 // LinearAnalyticMeasurementModelGaussianUncertainty(const LinearAnalyticMeasurementModelGaussianUncertainty& l); 00043 00044 // Destructor 00045 virtual ~LinearAnalyticMeasurementModelGaussianUncertainty(); 00046 00047 // redefinition of virtual functions 00048 virtual MatrixWrapper::Matrix df_dxGet (const MatrixWrapper::ColumnVector& u, const MatrixWrapper::ColumnVector& x); 00049 virtual MatrixWrapper::ColumnVector PredictionGet(const MatrixWrapper::ColumnVector& u, const MatrixWrapper::ColumnVector& x); 00050 virtual MatrixWrapper::SymmetricMatrix CovarianceGet(const MatrixWrapper::ColumnVector& u, const MatrixWrapper::ColumnVector& x); 00051 00053 00056 void HSet(const MatrixWrapper::Matrix& h); 00057 00059 00062 void JSet(const MatrixWrapper::Matrix& j); 00063 00065 const MatrixWrapper::Matrix& HGet() const; 00066 00068 const MatrixWrapper::Matrix& JGet() const; 00069 00070 00071 protected: 00072 00073 }; 00074 00075 } // End namespace BFL 00076 00077 #endif // __LINEAR_MEASUREMENT_MODEL_GAUSSIAN_UNCERTAINTY__