Class for linear analytic measurementmodels with additive gaussian noise. More...

#include <linearanalyticmeasurementmodel_gaussianuncertainty.h>

Inheritance diagram for BFL::LinearAnalyticMeasurementModelGaussianUncertainty:

Public Member Functions
virtual MatrixWrapper::SymmetricMatrix	CovarianceGet (const MatrixWrapper::ColumnVector &u, const MatrixWrapper::ColumnVector &x)
	Returns covariance on the measurement.
virtual MatrixWrapper::Matrix	df_dxGet (const MatrixWrapper::ColumnVector &u, const MatrixWrapper::ColumnVector &x)
	Returns H-matrix.
const MatrixWrapper::Matrix &	HGet () const
	Get Matrix H.
void	HSet (const MatrixWrapper::Matrix &h)
	Set Matrix H.
const MatrixWrapper::Matrix &	JGet () const
	Get Matrix J.
void	JSet (const MatrixWrapper::Matrix &j)
	Set Matrix J.
	LinearAnalyticMeasurementModelGaussianUncertainty (LinearAnalyticConditionalGaussian *pdf=NULL)
	Constructor.
virtual MatrixWrapper::ColumnVector	PredictionGet (const MatrixWrapper::ColumnVector &u, const MatrixWrapper::ColumnVector &x)
	Returns estimation of measurement.
virtual	~LinearAnalyticMeasurementModelGaussianUncertainty ()

Detailed Description

Class for linear analytic measurementmodels with additive gaussian noise.

This class represents all measurementmodels of the form

$z_k = H \times x_k + J \times s_{k} + N(\mu,\Sigma)$

Definition at line 32 of file linearanalyticmeasurementmodel_gaussianuncertainty.h.

Constructor & Destructor Documentation

BFL::LinearAnalyticMeasurementModelGaussianUncertainty::LinearAnalyticMeasurementModelGaussianUncertainty ( LinearAnalyticConditionalGaussian * pdf = NULL )

Constructor.

Parameters:

pdf	Conditional pdf, with Gaussian uncertainty

Definition at line 30 of file linearanalyticmeasurementmodel_gaussianuncertainty.cpp.

BFL::LinearAnalyticMeasurementModelGaussianUncertainty::~LinearAnalyticMeasurementModelGaussianUncertainty ( ) [virtual]

Definition at line 43 of file linearanalyticmeasurementmodel_gaussianuncertainty.cpp.

Member Function Documentation

SymmetricMatrix BFL::LinearAnalyticMeasurementModelGaussianUncertainty::CovarianceGet	(	const MatrixWrapper::ColumnVector &	u,
		const MatrixWrapper::ColumnVector &	x
	)		`[virtual]`

Returns covariance on the measurement.

Reimplemented from BFL::AnalyticMeasurementModelGaussianUncertainty.

Reimplemented in BFL::LinearAnalyticMeasurementModelGaussianUncertainty_Implicit.

Definition at line 58 of file linearanalyticmeasurementmodel_gaussianuncertainty.cpp.

Matrix BFL::LinearAnalyticMeasurementModelGaussianUncertainty::df_dxGet	(	const MatrixWrapper::ColumnVector &	u,
		const MatrixWrapper::ColumnVector &	x
	)		`[virtual]`

Returns H-matrix.

$H = \frac{df}{dx} \mid_{u,x}$

used by extended kalman filter

Parameters:

u	The value of the input in which the derivate is evaluated
x	The value in the state in which the derivate is evaluated

Reimplemented from BFL::AnalyticMeasurementModelGaussianUncertainty.

Reimplemented in BFL::LinearAnalyticMeasurementModelGaussianUncertainty_Implicit.

Definition at line 68 of file linearanalyticmeasurementmodel_gaussianuncertainty.cpp.

const Matrix & BFL::LinearAnalyticMeasurementModelGaussianUncertainty::HGet ( ) const

Get Matrix H.

Definition at line 92 of file linearanalyticmeasurementmodel_gaussianuncertainty.cpp.

void BFL::LinearAnalyticMeasurementModelGaussianUncertainty::HSet ( const MatrixWrapper::Matrix & h )

Set Matrix H.

This can be particularly useful for time-varying systems

Parameters:

h Matrix H

Definition at line 78 of file linearanalyticmeasurementmodel_gaussianuncertainty.cpp.

const Matrix & BFL::LinearAnalyticMeasurementModelGaussianUncertainty::JGet ( ) const

Get Matrix J.

Definition at line 99 of file linearanalyticmeasurementmodel_gaussianuncertainty.cpp.

void BFL::LinearAnalyticMeasurementModelGaussianUncertainty::JSet ( const MatrixWrapper::Matrix & j )

Set Matrix J.

This can be particularly useful for time-varying systems

Parameters:

j Matrix J

Definition at line 85 of file linearanalyticmeasurementmodel_gaussianuncertainty.cpp.

ColumnVector BFL::LinearAnalyticMeasurementModelGaussianUncertainty::PredictionGet	(	const MatrixWrapper::ColumnVector &	u,
		const MatrixWrapper::ColumnVector &	x
	)		`[virtual]`

Returns estimation of measurement.

Reimplemented from BFL::AnalyticMeasurementModelGaussianUncertainty.

Reimplemented in BFL::LinearAnalyticMeasurementModelGaussianUncertainty_Implicit.

Definition at line 48 of file linearanalyticmeasurementmodel_gaussianuncertainty.cpp.

The documentation for this class was generated from the following files:

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation