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

Class for linear analytic measurementmodels with additive gaussian noise. More...

#include <linearanalyticmeasurementmodel_gaussianuncertainty.h>

Inheritance diagram for BFL::LinearAnalyticMeasurementModelGaussianUncertainty:
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Public Member Functions

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...
 
const MatrixWrapper::Matrix & HGet () const
 Get Matrix H. More...
 
void HSet (const MatrixWrapper::Matrix &h)
 Set Matrix H. More...
 
const MatrixWrapper::Matrix & JGet () const
 Get Matrix J. More...
 
void JSet (const MatrixWrapper::Matrix &j)
 Set Matrix J. More...
 
 LinearAnalyticMeasurementModelGaussianUncertainty (LinearAnalyticConditionalGaussian *pdf=NULL)
 Constructor. More...
 
virtual MatrixWrapper::ColumnVector PredictionGet (const MatrixWrapper::ColumnVector &u, const MatrixWrapper::ColumnVector &x)
 Returns estimation of measurement. More...
 
virtual ~LinearAnalyticMeasurementModelGaussianUncertainty ()
 
- Public Member Functions inherited from BFL::AnalyticMeasurementModelGaussianUncertainty
 AnalyticMeasurementModelGaussianUncertainty (AnalyticConditionalGaussian *Measurementpdf=NULL)
 Constructor. 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 for linear analytic measurementmodels with additive gaussian noise.

This class represents all measurementmodels of the form

\[ z_k = H \times x_k + J \times s_{k} + N(\mu,\Sigma) \]

Definition at line 32 of file linearanalyticmeasurementmodel_gaussianuncertainty.h.

Constructor & Destructor Documentation

◆ LinearAnalyticMeasurementModelGaussianUncertainty()

BFL::LinearAnalyticMeasurementModelGaussianUncertainty::LinearAnalyticMeasurementModelGaussianUncertainty ( LinearAnalyticConditionalGaussian pdf = NULL)

Constructor.

Parameters
pdfConditional pdf, with Gaussian uncertainty

Definition at line 30 of file linearanalyticmeasurementmodel_gaussianuncertainty.cpp.

◆ ~LinearAnalyticMeasurementModelGaussianUncertainty()

BFL::LinearAnalyticMeasurementModelGaussianUncertainty::~LinearAnalyticMeasurementModelGaussianUncertainty ( )
virtual

Member Function Documentation

◆ CovarianceGet()

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

◆ df_dxGet()

Matrix BFL::LinearAnalyticMeasurementModelGaussianUncertainty::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 from BFL::AnalyticMeasurementModelGaussianUncertainty.

Reimplemented in BFL::LinearAnalyticMeasurementModelGaussianUncertainty_Implicit.

Definition at line 68 of file linearanalyticmeasurementmodel_gaussianuncertainty.cpp.

◆ HGet()

const Matrix & BFL::LinearAnalyticMeasurementModelGaussianUncertainty::HGet ( ) const

Get Matrix H.

Definition at line 92 of file linearanalyticmeasurementmodel_gaussianuncertainty.cpp.

◆ HSet()

void BFL::LinearAnalyticMeasurementModelGaussianUncertainty::HSet ( const MatrixWrapper::Matrix &  h)

Set Matrix H.

This can be particularly useful for time-varying systems

Parameters
hMatrix H

Definition at line 78 of file linearanalyticmeasurementmodel_gaussianuncertainty.cpp.

◆ JGet()

const Matrix & BFL::LinearAnalyticMeasurementModelGaussianUncertainty::JGet ( ) const

Get Matrix J.

Definition at line 99 of file linearanalyticmeasurementmodel_gaussianuncertainty.cpp.

◆ JSet()

void BFL::LinearAnalyticMeasurementModelGaussianUncertainty::JSet ( const MatrixWrapper::Matrix &  j)

Set Matrix J.

This can be particularly useful for time-varying systems

Parameters
jMatrix J

Definition at line 85 of file linearanalyticmeasurementmodel_gaussianuncertainty.cpp.

◆ PredictionGet()

ColumnVector BFL::LinearAnalyticMeasurementModelGaussianUncertainty::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