00001 // Copyright (C) 2008 Wim Meeussen <meeussen at willowgarage com> 00002 // 00003 // This program is free software; you can redistribute it and/or modify 00004 // it under the terms of the GNU Lesser General Public License as published by 00005 // the Free Software Foundation; either version 2.1 of the License, or 00006 // (at your option) any later version. 00007 // 00008 // This program is distributed in the hope that it will be useful, 00009 // but WITHOUT ANY WARRANTY; without even the implied warranty of 00010 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00011 // GNU Lesser General Public License for more details. 00012 // 00013 // You should have received a copy of the GNU Lesser General Public License 00014 // along with this program; if not, write to the Free Software 00015 // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. 00016 // 00017 00018 00019 #ifndef __NON_LINEAR_SYSTEM_CONDITIONAL_GAUSSIAN_ODO__ 00020 #define __NON_LINEAR_SYSTEM_CONDITIONAL_GAUSSIAN_ODO__ 00021 00022 #include <bfl/pdf/analyticconditionalgaussian_additivenoise.h> 00023 00024 namespace BFL 00025 { 00027 00033 class NonLinearAnalyticConditionalGaussianOdo : public AnalyticConditionalGaussianAdditiveNoise 00034 { 00035 public: 00037 00043 NonLinearAnalyticConditionalGaussianOdo( const Gaussian& additiveNoise); 00044 00046 virtual ~NonLinearAnalyticConditionalGaussianOdo(); 00047 00048 // redefine virtual functions 00049 virtual MatrixWrapper::ColumnVector ExpectedValueGet() const; 00050 virtual MatrixWrapper::Matrix dfGet(unsigned int i) const; 00051 00052 private: 00053 mutable MatrixWrapper::Matrix df; 00054 }; 00055 00056 } // End namespace BFL 00057 00058 #endif //