analyticmeasurementmodel_gaussianuncertainty.h
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1 // $Id$
2 // Copyright (C) 2002 Klaas Gadeyne <first dot last at gmail dot com>
3 //
4 // This program is free software; you can redistribute it and/or modify
5 // it under the terms of the GNU Lesser General Public License as published by
6 // the Free Software Foundation; either version 2.1 of the License, or
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8 //
9 // This program is distributed in the hope that it will be useful,
10 // but WITHOUT ANY WARRANTY; without even the implied warranty of
11 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
12 // GNU Lesser General Public License for more details.
13 //
14 // You should have received a copy of the GNU Lesser General Public License
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17 //
18 #ifndef __MEASUREMENT_MODEL_GAUSSIANUNCERTAINTY__
19 #define __MEASUREMENT_MODEL_GAUSSIANUNCERTAINTY__
20 
21 #include "../pdf/analyticconditionalgaussian.h"
22 #include "measurementmodel.h"
23 
24 namespace BFL
25 {
26 
30  class AnalyticMeasurementModelGaussianUncertainty: public MeasurementModel<MatrixWrapper::ColumnVector,MatrixWrapper::ColumnVector>
31  {
32  public:
34 
39 
40  // default Copy Constructor, interface class
41 
44 
46 
50  virtual MatrixWrapper::Matrix df_dxGet(const MatrixWrapper::ColumnVector& u, const MatrixWrapper::ColumnVector& x);
51 
53  virtual MatrixWrapper::ColumnVector PredictionGet(const MatrixWrapper::ColumnVector& u, const MatrixWrapper::ColumnVector& x);
54 
56  virtual MatrixWrapper::SymmetricMatrix CovarianceGet(const MatrixWrapper::ColumnVector& u, const MatrixWrapper::ColumnVector& x);
57 
58 
59  };
60 
61 } // End namespace BFL
62 
63 #endif // __MEASUREMENT_MODEL_GAUSSIANUNCERTAINTY__
virtual MatrixWrapper::Matrix df_dxGet(const MatrixWrapper::ColumnVector &u, const MatrixWrapper::ColumnVector &x)
Returns H-matrix.
AnalyticMeasurementModelGaussianUncertainty(AnalyticConditionalGaussian *Measurementpdf=NULL)
Constructor.
virtual MatrixWrapper::ColumnVector PredictionGet(const MatrixWrapper::ColumnVector &u, const MatrixWrapper::ColumnVector &x)
Returns estimation of measurement.
virtual MatrixWrapper::SymmetricMatrix CovarianceGet(const MatrixWrapper::ColumnVector &u, const MatrixWrapper::ColumnVector &x)
Returns covariance on the measurement.
Abstract Class representing all FULL Analytical Conditional gaussians.


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 Mon Feb 28 2022 21:56:33