linearanalyticmeasurementmodel_gaussianuncertainty_implicit.h
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1 // $Id$
2 // Copyright (C) 2002 Klaas Gadeyne <first dot last at gmail dot com>
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5 // it under the terms of the GNU Lesser General Public License as published by
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18 #ifndef __LINEAR_MEASUREMENT_MODEL_GAUSSIAN_UNCERTAINTY_IMPLICIT__
19 #define __LINEAR_MEASUREMENT_MODEL_GAUSSIAN_UNCERTAINTY_IMPLICIT__
20 
21 
22 #include "../pdf/gaussian.h"
23 #include "../pdf/linearanalyticconditionalgaussian.h"
25 
26 namespace BFL
27 {
28 
30  // derived from an implicit measurement equation $h(x,z)=0$
31  //
38  {
39  public:
41 
46 
47  // Default Copy constructor will do
48  // LinearAnalyticMeasurementModelGaussianUncertainty_Implicit(const LinearAnalyticMeasurementModelGaussianUncertainty_Implicit& l);
49 
52 
53  // redefinition of virtual functions
54  //
55  virtual const MatrixWrapper::ColumnVector& fGet () const =0;
56  virtual const int TypeGet () const=0;
57  virtual MatrixWrapper::Matrix& dfGet (int number) =0 ;
59 
63  virtual MatrixWrapper::Matrix df_dxGet (const MatrixWrapper::ColumnVector& z, const MatrixWrapper::ColumnVector& x) =0;
65 
69  virtual MatrixWrapper::Matrix& df_dzGet (const MatrixWrapper::ColumnVector& z, const MatrixWrapper::ColumnVector& x)=0;
71  virtual MatrixWrapper::ColumnVector PredictionGet(const MatrixWrapper::ColumnVector& z, const MatrixWrapper::ColumnVector& x)=0;
73  virtual MatrixWrapper::ColumnVector ExpectedValueGet()=0;
75 
83  virtual MatrixWrapper::SymmetricMatrix& CovarianceGet()=0;
85 
93  virtual MatrixWrapper::SymmetricMatrix CovarianceGet(const MatrixWrapper::ColumnVector& z, const MatrixWrapper::ColumnVector& x)=0;
94  virtual void Calculate(const MatrixWrapper::ColumnVector& x ,const MatrixWrapper::ColumnVector& z,const MatrixWrapper::Matrix& R)=0;
95 
97  virtual const MatrixWrapper::Matrix& SRCovariance() const=0;
99  virtual const int& Is_Identity() const=0;
100  };
101 } // End namespace BFL
102 
103 #endif // __LINEAR_MEASUREMENT_MODEL_GAUSSIAN_UNCERTAINTY__
virtual const MatrixWrapper::ColumnVector & fGet() const =0
virtual MatrixWrapper::Matrix df_dxGet(const MatrixWrapper::ColumnVector &z, const MatrixWrapper::ColumnVector &x)=0
Returns H-matrix calculated with measurement z and state x.
virtual MatrixWrapper::SymmetricMatrix & CovarianceGet()=0
Returns covariance of the noise on the linearised measurement model evaluated using measurements z an...
virtual MatrixWrapper::ColumnVector ExpectedValueGet()=0
Return a prediction for the mean of the noise on the linear measurement equation, using the current x...
Class for linear analytic measurementmodels with additive gaussian noise.
virtual const int & Is_Identity() const =0
Returns 1 if D-matrix equals the identity matrix else 0.
virtual MatrixWrapper::Matrix & dfGet(int number)=0
virtual MatrixWrapper::ColumnVector PredictionGet(const MatrixWrapper::ColumnVector &z, const MatrixWrapper::ColumnVector &x)=0
Return a prediction for the mean of the noise on the linear measurement equation, calculated with mea...
Class for linear analytic measurementmodels with additive gaussian noise.
virtual MatrixWrapper::Matrix & df_dzGet(const MatrixWrapper::ColumnVector &z, const MatrixWrapper::ColumnVector &x)=0
Returns D-matrix calculated with measurement z and state x.
virtual void Calculate(const MatrixWrapper::ColumnVector &x, const MatrixWrapper::ColumnVector &z, const MatrixWrapper::Matrix &R)=0
virtual const MatrixWrapper::Matrix & SRCovariance() const =0
Returns square root of the covariance of the measurements z.


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