linearanalyticmeasurementmodel_gaussianuncertainty.h
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00001 // $Id: linearanalyticmeasurementmodel_gaussianuncertainty.h 29830 2009-01-14 15:10:41Z kgadeyne $
00002 // Copyright (C) 2002 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 #ifndef __LINEAR_MEASUREMENT_MODEL_GAUSSIAN_UNCERTAINTY__
00019 #define __LINEAR_MEASUREMENT_MODEL_GAUSSIAN_UNCERTAINTY__
00020 
00021 #include "analyticmeasurementmodel_gaussianuncertainty.h"
00022 #include "../pdf/gaussian.h"
00023 #include "../pdf/linearanalyticconditionalgaussian.h"
00024 
00025 namespace BFL
00026 {
00027 
00029 
00032   class LinearAnalyticMeasurementModelGaussianUncertainty :
00033     public AnalyticMeasurementModelGaussianUncertainty
00034     {
00035     public:
00037 
00039       LinearAnalyticMeasurementModelGaussianUncertainty( LinearAnalyticConditionalGaussian* pdf = NULL);
00040 
00041       // Default Copy constructor will do
00042       // LinearAnalyticMeasurementModelGaussianUncertainty(const LinearAnalyticMeasurementModelGaussianUncertainty& l);
00043 
00044       // Destructor
00045       virtual ~LinearAnalyticMeasurementModelGaussianUncertainty();
00046 
00047       // redefinition of virtual functions
00048       virtual MatrixWrapper::Matrix          df_dxGet     (const MatrixWrapper::ColumnVector& u, const MatrixWrapper::ColumnVector& x);
00049       virtual MatrixWrapper::ColumnVector    PredictionGet(const MatrixWrapper::ColumnVector& u, const MatrixWrapper::ColumnVector& x);
00050       virtual MatrixWrapper::SymmetricMatrix CovarianceGet(const MatrixWrapper::ColumnVector& u, const MatrixWrapper::ColumnVector& x);
00051 
00053 
00056       void HSet(const MatrixWrapper::Matrix& h);
00057 
00059 
00062       void JSet(const MatrixWrapper::Matrix& j);
00063 
00065       const MatrixWrapper::Matrix& HGet() const;
00066 
00068       const MatrixWrapper::Matrix& JGet() const;
00069 
00070 
00071     protected:
00072 
00073     };
00074 
00075 } // End namespace BFL
00076 
00077 #endif // __LINEAR_MEASUREMENT_MODEL_GAUSSIAN_UNCERTAINTY__


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 Thu Feb 11 2016 22:31:56