Bayesian Filtering Library Generated from SVN r
analyticmeasurementmodel_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 __MEASUREMENT_MODEL_GAUSSIANUNCERTAINTY__
19#define __MEASUREMENT_MODEL_GAUSSIANUNCERTAINTY__
20
21#include "../pdf/analyticconditionalgaussian.h"
22#include "measurementmodel.h"
23
24namespace BFL
25{
26
30 class AnalyticMeasurementModelGaussianUncertainty: public MeasurementModel<MatrixWrapper::ColumnVector,MatrixWrapper::ColumnVector>
31 {
32 public:
34
39
40 // default Copy Constructor, interface class
41
44
46
50 virtual MatrixWrapper::Matrix df_dxGet(const MatrixWrapper::ColumnVector& u, const MatrixWrapper::ColumnVector& x);
51
53 virtual MatrixWrapper::ColumnVector PredictionGet(const MatrixWrapper::ColumnVector& u, const MatrixWrapper::ColumnVector& x);
54
56 virtual MatrixWrapper::SymmetricMatrix CovarianceGet(const MatrixWrapper::ColumnVector& u, const MatrixWrapper::ColumnVector& x);
57
58
59 };
60
61} // End namespace BFL
62
63#endif // __MEASUREMENT_MODEL_GAUSSIANUNCERTAINTY__
Abstract Class representing all FULL Analytical Conditional gaussians.
virtual MatrixWrapper::SymmetricMatrix CovarianceGet(const MatrixWrapper::ColumnVector &u, const MatrixWrapper::ColumnVector &x)
Returns covariance on the measurement.
virtual ~AnalyticMeasurementModelGaussianUncertainty()
Destructor.
virtual MatrixWrapper::ColumnVector PredictionGet(const MatrixWrapper::ColumnVector &u, const MatrixWrapper::ColumnVector &x)
Returns estimation of measurement.
AnalyticMeasurementModelGaussianUncertainty(AnalyticConditionalGaussian *Measurementpdf=NULL)
Constructor.
virtual MatrixWrapper::Matrix df_dxGet(const MatrixWrapper::ColumnVector &u, const MatrixWrapper::ColumnVector &x)
Returns H-matrix.