measurementmodel.h
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1 // $Id$
2 // Copyright (C) 2002 Klaas Gadeyne <first dot last at gmail dot com>
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31 //
32 #ifndef __MEASUREMENT_MODEL__
33 #define __MEASUREMENT_MODEL__
34 
35 #include "../pdf/conditionalpdf.h"
36 
37 namespace BFL
38 {
39 
40 #define NUMBER_OF_CONDITIONAL_ARGS 2
41 
53  template<typename MeasVar, typename StateVar> class MeasurementModel {
54  protected:
56  /* @bug Since, for now, the library only supports only conditional
57  arguments of the same type, both X and U have to be of the same
58  type (ie both continu or both discrete!). I imagine there must
59  be systems for which this approach is not general enough @see
60  ConditionalPdf
61  */
63 
66 
67  public:
69 
75  virtual ~MeasurementModel();
76 
78  int MeasurementSizeGet() const;
79 
81  bool SystemWithoutSensorParams() const;
82 
85 
87 
90 
92 
103  MeasVar Simulate (const StateVar& x, const StateVar& s, int sampling_method = DEFAULT, void * sampling_args = NULL);
104 
106 
116  MeasVar Simulate (const StateVar& x, int sampling_method = DEFAULT, void * sampling_args = NULL);
117 
119 
125  Probability ProbabilityGet(const MeasVar& z, const StateVar& x, const StateVar& s );
126 
128 
134  Probability ProbabilityGet(const MeasVar& z, const StateVar& x );
135  };
136 
137 #include "measurementmodel.cpp"
139 } // End namespace BFL
140 
141 #endif // __MEASUREMENT_MODEL__
#define DEFAULT
int MeasurementSizeGet() const
Get Measurement Size.
#define StateVar
Definition: asirfilter.h:22
Probability ProbabilityGet(const MeasVar &z, const StateVar &x, const StateVar &s)
Get the probability of a certain measurement.
ConditionalPdf< MeasVar, StateVar > * _MeasurementPdf
ConditionalPdf representing .
MeasVar Simulate(const StateVar &x, const StateVar &s, int sampling_method=DEFAULT, void *sampling_args=NULL)
Simulate the Measurement, given a certain state, and an input.
ConditionalPdf< MeasVar, StateVar > * MeasurementPdfGet()
Get the MeasurementPDF.
#define MeasVar
Definition: asirfilter.h:23
void MeasurementPdfSet(ConditionalPdf< MeasVar, StateVar > *pdf)
Set the MeasurementPDF.
Class representing a probability (a double between 0 and 1)
Definition: bfl_constants.h:39
MeasurementModel(ConditionalPdf< MeasVar, StateVar > *Measurementpdf=NULL)
Constructor.
virtual ~MeasurementModel()
Destructor.
bool SystemWithoutSensorParams() const
Number of Conditional Arguments.
bool _systemWithoutSensorParams
System with no sensor params??


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