conditionalUniformMeasPdf1d.cpp
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00001 // $Id: conditionalUniforMeasPdf1d.cpp TDeLaet $
00002 // Copyright (C) 2007  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 "conditionalUniformMeasPdf1d.h"
00020 #include <wrappers/rng/rng.h> // Wrapper around several rng libraries
00021 
00022 #define MEASMODEL_NUMCONDARGUMENTS 1
00023 #define MEASMODEL_DIMENSION 1
00024 
00025 namespace BFL
00026 {
00027   using namespace MatrixWrapper;
00028 
00029   ConditionalUniformMeasPdf1d::ConditionalUniformMeasPdf1d(const Gaussian& measNoise)
00030     : ConditionalPdf<ColumnVector,int>(MEASMODEL_DIMENSION,MEASMODEL_NUMCONDARGUMENTS)
00031   {
00032     _measNoise = measNoise;
00033   }
00034 
00035 
00036   ConditionalUniformMeasPdf1d::~ConditionalUniformMeasPdf1d(){}
00037 
00038   Probability
00039   ConditionalUniformMeasPdf1d::ProbabilityGet(const ColumnVector& measurement) const
00040   {
00041     // simplified version: the probability of a measurement is just the
00042     // probability under the additive Gaussian noise. The discrete nature of the
00043     // underlying state is not taken into account
00044     int state = ConditionalArgumentGet(0);
00045     ColumnVector expected_measurement(1);
00046     // the expected measurement in this simplified 1d example is just two times
00047     // the position of the 1d mobile robot
00048     expected_measurement(1) = 2 * state;
00049 
00050     return _measNoise.ProbabilityGet(expected_measurement-measurement);
00051   }
00052 
00053 }//namespace BFL
00054 


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 Fri Aug 28 2015 10:10:21