nonlinearanalyticmeasurementmodel_gaussianuncertainty_ginac.h
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1 // $Id$
2 // Copyright (C) 2002 Klaas Gadeyne <first dot last at gmail dot com>
3 // Wim Meeussen <wim dot meeussen at mech dot kuleuven dot ac dot be>
4 //
5 // This program is free software; you can redistribute it and/or modify
6 // it under the terms of the GNU Lesser General Public License as published by
7 // the Free Software Foundation; either version 2.1 of the License, or
8 // (at your option) any later version.
9 //
10 // This program is distributed in the hope that it will be useful,
11 // but WITHOUT ANY WARRANTY; without even the implied warranty of
12 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
13 // GNU Lesser General Public License for more details.
14 //
15 // You should have received a copy of the GNU Lesser General Public License
16 // along with this program; if not, write to the Free Software
17 // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
18 //
19 #ifndef __NON_LINEAR_MEASUREMENT_MODEL_GAUSSIAN_UNCERTAINTY_GINAC__
20 #define __NON_LINEAR_MEASUREMENT_MODEL_GAUSSIAN_UNCERTAINTY_GINAC__
21 
23 #include "../pdf/gaussian.h"
24 #include "../pdf/nonlinearanalyticconditionalgaussian_ginac.h"
25 #include <ginac/ginac.h>
26 #include <vector>
27 #include <iostream>
28 
29 namespace BFL
30 {
31 
32  using namespace std;
33 
35 
41  {
42 
43  public:
45 
48 
50  // NonLinearAnalyticMeasurementModelGaussianUncertainty_Ginac(const NonLinearAnalyticMeasurementModelGaussianUncertainty_Ginac& model);
51 
54 
56  // Not yet implemented
57  /*
58  friend std::ostream& operator<< (std::ostream& os,
59  NonLinearAnalyticMeasurementModelGaussianUncertainty_Ginac&
60  //m);
61  */
62 
63  // redefinition of virtual functions
64  virtual MatrixWrapper::Matrix df_dxGet (const MatrixWrapper::ColumnVector& u,
65  const MatrixWrapper::ColumnVector& x);
66  virtual MatrixWrapper::ColumnVector PredictionGet(const MatrixWrapper::ColumnVector& u,
67  const MatrixWrapper::ColumnVector& x);
68  virtual MatrixWrapper::SymmetricMatrix CovarianceGet(const MatrixWrapper::ColumnVector& u,
69  const MatrixWrapper::ColumnVector& x);
70 
72  GiNaC::matrix FunctionGet();
73 
75  vector<GiNaC::symbol> StateGet();
76 
78  vector<GiNaC::symbol> InputGet();
79 
81  vector<GiNaC::symbol> ConditionalGet();
82 
83  };
84 
85 } // End namespace BFL
86 
87 #endif // __NON_LINEAR_MEASUREMENT_MODEL_GAUSSIAN_UNCERTAINTY_GINAC__
Conditional Gaussian for an analytic nonlinear system using Ginac:
Class for nonlinear analytic measurementmodels with additive gaussian noise.


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