19#ifndef __NON_LINEAR_MEASUREMENT_MODEL_GAUSSIAN_UNCERTAINTY_GINAC__
20#define __NON_LINEAR_MEASUREMENT_MODEL_GAUSSIAN_UNCERTAINTY_GINAC__
22#include "analyticmeasurementmodel_gaussianuncertainty.h"
23#include "../pdf/gaussian.h"
24#include "../pdf/nonlinearanalyticconditionalgaussian_ginac.h"
25#include <ginac/ginac.h>
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);
Conditional Gaussian for an analytic nonlinear system using Ginac:
Class for nonlinear 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.
NonLinearAnalyticMeasurementModelGaussianUncertainty_Ginac(NonLinearAnalyticConditionalGaussian_Ginac *const pdf)
Constructor.
vector< GiNaC::symbol > StateGet()
Get State symbols.
vector< GiNaC::symbol > InputGet()
Get input symbols.
GiNaC::matrix FunctionGet()
Get function.
virtual ~NonLinearAnalyticMeasurementModelGaussianUncertainty_Ginac()
copy constructor
vector< GiNaC::symbol > ConditionalGet()
Get conditional arguments.
virtual MatrixWrapper::Matrix df_dxGet(const MatrixWrapper::ColumnVector &u, const MatrixWrapper::ColumnVector &x)
output stream for measurement model