nonlinearanalyticmeasurementmodel_gaussianuncertainty_ginac.cpp
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1 // $Id$
2 // Copyright (C) 2003 Klaas Gadeyne <first dot last at gmail dot com>
3 // Wim Meeussen <wim dot meeussen at mech dot kuleuven dot ac dot be>
4 //
5 // This program is free software; you can redistribute it and/or modify
6 // it under the terms of the GNU Lesser General Public License as published by
7 // the Free Software Foundation; either version 2.1 of the License, or
8 // (at your option) any later version.
9 //
10 // This program is distributed in the hope that it will be useful,
11 // but WITHOUT ANY WARRANTY; without even the implied warranty of
12 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
13 // GNU Lesser General Public License for more details.
14 //
15 // You should have received a copy of the GNU Lesser General Public License
16 // along with this program; if not, write to the Free Software
17 // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
18 //
19 
20 #include "../sample/sample.h"
22 
23 namespace BFL
24 {
25 
29  {}
30 
31 
32  // copy constructor: Not implemented yet
33  /*
34  NonLinearAnalyticMeasurementModelGaussianUncertainty_Ginac::NonLinearAnalyticMeasurementModelGaussianUncertainty_Ginac
35  (const NonLinearAnalyticMeasurementModelGaussianUncertainty_Ginac& m)
36  : AnalyticMeasurementModelGaussianUncertainty( new NonLinearAnalyticConditionalGaussian_Ginac( (NonLinearAnalyticConditionalGaussian_Ginac*) m.MeasurementPdfGet()) )
37  {}
38  */
39 
41 
42  /*
43  std::ostream& operator<< (std::ostream& os, NonLinearAnalyticMeasurementModelGaussianUncertainty_Ginac& m)
44  {
45  os << "\nMeasurementModel:" << endl;
46  os << *(m.MeasurementPdfGet());
47  return os;
48  }
49  */
50 
51 
52  MatrixWrapper::ColumnVector
54  const MatrixWrapper::ColumnVector& x)
55  {
59  }
60 
61 
62  MatrixWrapper::SymmetricMatrix
64  const MatrixWrapper::ColumnVector& x)
65  {
68  return MeasurementPdfGet()->CovarianceGet();
69  }
70 
71 
72  MatrixWrapper::Matrix
74  const MatrixWrapper::ColumnVector& x)
75  {
78  return ((AnalyticConditionalGaussian *) MeasurementPdfGet())->dfGet(0);
79  }
80 
81  GiNaC::matrix
83  {
85  }
86 
87  vector<GiNaC::symbol>
89  {
91  }
92 
93  vector<GiNaC::symbol>
95  {
97  }
98 
99  vector<GiNaC::symbol>
101  {
103  }
104 
105 } // End namespace BFL
virtual MatrixWrapper::SymmetricMatrix CovarianceGet(const MatrixWrapper::ColumnVector &u, const MatrixWrapper::ColumnVector &x)
Returns covariance on the measurement.
Conditional Gaussian for an analytic nonlinear system using Ginac:
virtual void ConditionalArgumentSet(unsigned int n_argument, const CondArg &argument)
Set the n-th argument of the list.
NonLinearAnalyticMeasurementModelGaussianUncertainty_Ginac(NonLinearAnalyticConditionalGaussian_Ginac *const pdf)
Constructor.
virtual MatrixWrapper::ColumnVector PredictionGet(const MatrixWrapper::ColumnVector &u, const MatrixWrapper::ColumnVector &x)
Returns estimation of measurement.
virtual T ExpectedValueGet() const
Get the expected value E[x] of the pdf.
ConditionalPdf< MatrixWrapper::ColumnVector, MatrixWrapper::ColumnVector > * MeasurementPdfGet()
Get the MeasurementPDF.
virtual MatrixWrapper::Matrix df_dxGet(const MatrixWrapper::ColumnVector &u, const MatrixWrapper::ColumnVector &x)
output stream for measurement model
Abstract Class representing all FULL Analytical Conditional gaussians.
Class for nonlinear analytic measurementmodels with additive gaussian noise.
virtual MatrixWrapper::SymmetricMatrix CovarianceGet() const
Get the Covariance Matrix E[(x - E[x])^2] of the Analytic pdf.


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