Bayesian Filtering Library Generated from SVN r
linearanalyticmeasurementmodel_gaussianuncertainty.h
1// $Id$
2// Copyright (C) 2002 Klaas Gadeyne <first dot last at gmail dot com>
3//
4// This program is free software; you can redistribute it and/or modify
5// it under the terms of the GNU Lesser General Public License as published by
6// the Free Software Foundation; either version 2.1 of the License, or
7// (at your option) any later version.
8//
9// This program is distributed in the hope that it will be useful,
10// but WITHOUT ANY WARRANTY; without even the implied warranty of
11// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
12// GNU Lesser General Public License for more details.
13//
14// You should have received a copy of the GNU Lesser General Public License
15// along with this program; if not, write to the Free Software
16// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
17//
18#ifndef __LINEAR_MEASUREMENT_MODEL_GAUSSIAN_UNCERTAINTY__
19#define __LINEAR_MEASUREMENT_MODEL_GAUSSIAN_UNCERTAINTY__
20
21#include "analyticmeasurementmodel_gaussianuncertainty.h"
22#include "../pdf/gaussian.h"
23#include "../pdf/linearanalyticconditionalgaussian.h"
24
25namespace BFL
26{
27
29
34 {
35 public:
37
40
41 // Default Copy constructor will do
42 // LinearAnalyticMeasurementModelGaussianUncertainty(const LinearAnalyticMeasurementModelGaussianUncertainty& l);
43
44 // Destructor
46
47 // redefinition of virtual functions
48 virtual MatrixWrapper::Matrix df_dxGet (const MatrixWrapper::ColumnVector& u, const MatrixWrapper::ColumnVector& x);
49 virtual MatrixWrapper::ColumnVector PredictionGet(const MatrixWrapper::ColumnVector& u, const MatrixWrapper::ColumnVector& x);
50 virtual MatrixWrapper::SymmetricMatrix CovarianceGet(const MatrixWrapper::ColumnVector& u, const MatrixWrapper::ColumnVector& x);
51
53
56 void HSet(const MatrixWrapper::Matrix& h);
57
59
62 void JSet(const MatrixWrapper::Matrix& j);
63
65 const MatrixWrapper::Matrix& HGet() const;
66
68 const MatrixWrapper::Matrix& JGet() const;
69
70
71 protected:
72
73 };
74
75} // End namespace BFL
76
77#endif // __LINEAR_MEASUREMENT_MODEL_GAUSSIAN_UNCERTAINTY__
Class for linear analytic measurementmodels with additive gaussian noise.
virtual MatrixWrapper::SymmetricMatrix CovarianceGet(const MatrixWrapper::ColumnVector &u, const MatrixWrapper::ColumnVector &x)
Returns covariance on the measurement.
virtual MatrixWrapper::ColumnVector PredictionGet(const MatrixWrapper::ColumnVector &u, const MatrixWrapper::ColumnVector &x)
Returns estimation of measurement.
const MatrixWrapper::Matrix & HGet() const
Get Matrix H.
LinearAnalyticMeasurementModelGaussianUncertainty(LinearAnalyticConditionalGaussian *pdf=NULL)
Constructor.
void HSet(const MatrixWrapper::Matrix &h)
Set Matrix H.
const MatrixWrapper::Matrix & JGet() const
Get Matrix J.
void JSet(const MatrixWrapper::Matrix &j)
Set Matrix J.
virtual MatrixWrapper::Matrix df_dxGet(const MatrixWrapper::ColumnVector &u, const MatrixWrapper::ColumnVector &x)
Returns H-matrix.