filterproposaldensity.h
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00001 // $Id: filterproposaldensity.h 29830 2009-01-14 15:10:41Z kgadeyne $
00002 // Copyright (C) 2003 Klaas Gadeyne <first dot last at gmail dot com>
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 #ifndef __FILTER_PROP_DENSITY__
00020 #define __FILTER_PROP_DENSITY__
00021 
00022 #include "analyticconditionalgaussian.h"
00023 #include "gaussian.h"
00024 #include "../filter/filter.h"
00025 #include "../model/analyticmeasurementmodel_gaussianuncertainty.h"
00026 #include "../model/analyticsystemmodel_gaussianuncertainty.h"
00027 
00028 namespace BFL
00029 {
00031 
00040   class FilterProposalDensity : public AnalyticConditionalGaussian
00041     {
00042     public:
00044 
00047       FilterProposalDensity(AnalyticSystemModelGaussianUncertainty * SysModel,
00048                             AnalyticMeasurementModelGaussianUncertainty * MeasModel);
00049 
00051 
00054       FilterProposalDensity(const FilterProposalDensity & fpd);
00055 
00057       virtual ~FilterProposalDensity();
00058 
00059       // redefine pure virtual functions
00060       virtual MatrixWrapper::ColumnVector    ExpectedValueGet() const;
00061       virtual MatrixWrapper::SymmetricMatrix CovarianceGet()    const;
00062       virtual MatrixWrapper::Matrix          dfGet(unsigned int i)       const;
00063 
00065 
00067       void SystemModelSet(AnalyticSystemModelGaussianUncertainty * SysModel);
00068 
00070 
00072       void MeasurementModelSet(AnalyticMeasurementModelGaussianUncertainty * MeasModel);
00073 
00075 
00078       void SampleCovSet(MatrixWrapper::SymmetricMatrix & cov);
00079 
00080     protected:
00081       mutable Gaussian * _TmpPrior;
00082       mutable Filter<MatrixWrapper::ColumnVector,MatrixWrapper::ColumnVector> * _filter;
00083 
00084       AnalyticSystemModelGaussianUncertainty * _sysmodel;
00085       AnalyticMeasurementModelGaussianUncertainty * _measmodel;
00086 
00087       MatrixWrapper::SymmetricMatrix _sample_cov;
00088 
00090       virtual void FilterStep() const;
00091 
00092     };
00093 
00094 } // End namespace BFL
00095 
00096 #endif //  __FILTER_PROP_DENSITY__


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