Public Member Functions
BFL::LinearAnalyticMeasurementModelGaussianUncertainty Class Reference

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

#include <linearanalyticmeasurementmodel_gaussianuncertainty.h>

Inheritance diagram for BFL::LinearAnalyticMeasurementModelGaussianUncertainty:
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List of all members.

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

Constructor.

Parameters:
pdfConditional pdf, with Gaussian uncertainty

Definition at line 30 of file linearanalyticmeasurementmodel_gaussianuncertainty.cpp.


Member Function Documentation

SymmetricMatrix BFL::LinearAnalyticMeasurementModelGaussianUncertainty::CovarianceGet ( const MatrixWrapper::ColumnVector &  u,
const MatrixWrapper::ColumnVector &  x 
) [virtual]
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:
uThe value of the input in which the derivate is evaluated
xThe 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.

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:
hMatrix H

Definition at line 78 of file linearanalyticmeasurementmodel_gaussianuncertainty.cpp.

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:
jMatrix J

Definition at line 85 of file linearanalyticmeasurementmodel_gaussianuncertainty.cpp.

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

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


bfl
Author(s): Klaas Gadeyne, Wim Meeussen, Tinne Delaet and many others. See web page for a full contributor list. ROS package maintained by Wim Meeussen.
autogenerated on Thu Feb 11 2016 22:31:57