nonlinearSystemPdf.cpp
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00001 // $Id: nonlinearanalyticconditionalgaussianmobile.cpp 5823 2005-10-27 13:43:02Z TDeLaet $
00002 // Copyright (C) 2006  Tinne De Laet <first dot last at mech dot kuleuven dot be>
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 
00019 #include "nonlinearSystemPdf.h"
00020 #include <wrappers/rng/rng.h> // Wrapper around several rng libraries
00021 
00022 #define SYSMODEL_NUMCONDARGUMENTS_MOBILE 2
00023 #define SYSMODEL_DIMENSION_MOBILE        3
00024 
00025 namespace BFL
00026 {
00027   using namespace MatrixWrapper;
00028 
00029   NonlinearSystemPdf::NonlinearSystemPdf(const Gaussian& additiveNoise)
00030     : ConditionalPdf<ColumnVector,ColumnVector>(SYSMODEL_DIMENSION_MOBILE,SYSMODEL_NUMCONDARGUMENTS_MOBILE)
00031   {
00032     _additiveNoise = additiveNoise;
00033   }
00034 
00035 
00036   NonlinearSystemPdf::~NonlinearSystemPdf(){}
00037 
00038 
00039   bool NonlinearSystemPdf::SampleFrom (Sample<ColumnVector>& one_sample, int method, void * args) const
00040   {
00041     ColumnVector state = ConditionalArgumentGet(0);
00042     ColumnVector vel   = ConditionalArgumentGet(1);
00043 
00044     // system update
00045     state(1) += cos(state(3)) * vel(1);
00046     state(2) += sin(state(3)) * vel(1);
00047     state(3) += vel(2);
00048 
00049     // sample from additive noise
00050     Sample<ColumnVector> noise;
00051     _additiveNoise.SampleFrom(noise, method, args);
00052 
00053     // store results in one_sample
00054     one_sample.ValueSet(state + noise.ValueGet());
00055 
00056     return true;
00057   }
00058 
00059 }//namespace BFL
00060 


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