Public Member Functions | List of all members
BFL::AnalyticMeasurementModelGaussianUncertainty Class Reference

#include <analyticmeasurementmodel_gaussianuncertainty.h>

Inheritance diagram for BFL::AnalyticMeasurementModelGaussianUncertainty:
Inheritance graph
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Public Member Functions

 AnalyticMeasurementModelGaussianUncertainty (AnalyticConditionalGaussian *Measurementpdf=NULL)
 Constructor. More...
 
virtual MatrixWrapper::SymmetricMatrix CovarianceGet (const MatrixWrapper::ColumnVector &u, const MatrixWrapper::ColumnVector &x)
 Returns covariance on the measurement. More...
 
virtual MatrixWrapper::Matrix df_dxGet (const MatrixWrapper::ColumnVector &u, const MatrixWrapper::ColumnVector &x)
 Returns H-matrix. More...
 
virtual MatrixWrapper::ColumnVector PredictionGet (const MatrixWrapper::ColumnVector &u, const MatrixWrapper::ColumnVector &x)
 Returns estimation of measurement. More...
 
virtual ~AnalyticMeasurementModelGaussianUncertainty ()
 Destructor. More...
 
- Public Member Functions inherited from BFL::MeasurementModel< MatrixWrapper::ColumnVector, MatrixWrapper::ColumnVector >
 MeasurementModel (ConditionalPdf< MatrixWrapper::ColumnVector, MatrixWrapper::ColumnVector > *Measurementpdf=NULL)
 Constructor. More...
 
ConditionalPdf< MatrixWrapper::ColumnVector, MatrixWrapper::ColumnVector > * MeasurementPdfGet ()
 Get the MeasurementPDF. More...
 
void MeasurementPdfSet (ConditionalPdf< MatrixWrapper::ColumnVector, MatrixWrapper::ColumnVector > *pdf)
 Set the MeasurementPDF. More...
 
int MeasurementSizeGet () const
 Get Measurement Size. More...
 
Probability ProbabilityGet (const MatrixWrapper::ColumnVector &z, const MatrixWrapper::ColumnVector &x, const MatrixWrapper::ColumnVector &s)
 Get the probability of a certain measurement. More...
 
Probability ProbabilityGet (const MatrixWrapper::ColumnVector &z, const MatrixWrapper::ColumnVector &x)
 Get the probability of a certain measurement. More...
 
MatrixWrapper::ColumnVector Simulate (const MatrixWrapper::ColumnVector &x, const MatrixWrapper::ColumnVector &s, int sampling_method=DEFAULT, void *sampling_args=NULL)
 Simulate the Measurement, given a certain state, and an input. More...
 
MatrixWrapper::ColumnVector Simulate (const MatrixWrapper::ColumnVector &x, int sampling_method=DEFAULT, void *sampling_args=NULL)
 Simulate the system (no input system) More...
 
bool SystemWithoutSensorParams () const
 Number of Conditional Arguments. More...
 
virtual ~MeasurementModel ()
 Destructor. More...
 

Additional Inherited Members

- Protected Attributes inherited from BFL::MeasurementModel< MatrixWrapper::ColumnVector, MatrixWrapper::ColumnVector >
ConditionalPdf< MatrixWrapper::ColumnVector, MatrixWrapper::ColumnVector > * _MeasurementPdf
 ConditionalPdf representing $ P(Z_k | X_{k}, U_{k}) $. More...
 
bool _systemWithoutSensorParams
 System with no sensor params?? More...
 

Detailed Description

Class representing all continuous analytic Measurement Models with additive Gaussian Uncertainty

Definition at line 30 of file analyticmeasurementmodel_gaussianuncertainty.h.

Constructor & Destructor Documentation

◆ AnalyticMeasurementModelGaussianUncertainty()

BFL::AnalyticMeasurementModelGaussianUncertainty::AnalyticMeasurementModelGaussianUncertainty ( AnalyticConditionalGaussian Measurementpdf = NULL)

Constructor.

Parameters
MeasurementpdfConditionalPdf<S,T> representing $ P(Z_k | X_{k} (, U_{k})) $
See also
MEASUREMENT_SIZE, STATE_SIZE, INPUT_SIZE, _MeasurementPdf

Definition at line 28 of file analyticmeasurementmodel_gaussianuncertainty.cpp.

◆ ~AnalyticMeasurementModelGaussianUncertainty()

BFL::AnalyticMeasurementModelGaussianUncertainty::~AnalyticMeasurementModelGaussianUncertainty ( )
virtual

Destructor.

Definition at line 33 of file analyticmeasurementmodel_gaussianuncertainty.cpp.

Member Function Documentation

◆ CovarianceGet()

SymmetricMatrix BFL::AnalyticMeasurementModelGaussianUncertainty::CovarianceGet ( const MatrixWrapper::ColumnVector &  u,
const MatrixWrapper::ColumnVector &  x 
)
virtual

◆ df_dxGet()

Matrix BFL::AnalyticMeasurementModelGaussianUncertainty::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 in BFL::NonLinearAnalyticMeasurementModelGaussianUncertainty_Ginac, BFL::LinearAnalyticMeasurementModelGaussianUncertainty_Implicit, and BFL::LinearAnalyticMeasurementModelGaussianUncertainty.

Definition at line 38 of file analyticmeasurementmodel_gaussianuncertainty.cpp.

◆ PredictionGet()

ColumnVector BFL::AnalyticMeasurementModelGaussianUncertainty::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 Mon Feb 28 2022 21:56:34