Bayesian Filtering Library
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src
model
nonlinearanalyticmeasurementmodel_gaussianuncertainty_ginac.h
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// $Id$
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// Copyright (C) 2002 Klaas Gadeyne <first dot last at gmail dot com>
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// Wim Meeussen <wim dot meeussen at mech dot kuleuven dot ac dot be>
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//
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// This program is free software; you can redistribute it and/or modify
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// it under the terms of the GNU Lesser General Public License as published by
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// the Free Software Foundation; either version 2.1 of the License, or
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// (at your option) any later version.
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//
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// This program is distributed in the hope that it will be useful,
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// but WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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// GNU Lesser General Public License for more details.
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//
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// You should have received a copy of the GNU Lesser General Public License
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// along with this program; if not, write to the Free Software
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// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
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//
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#ifndef __NON_LINEAR_MEASUREMENT_MODEL_GAUSSIAN_UNCERTAINTY_GINAC__
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#define __NON_LINEAR_MEASUREMENT_MODEL_GAUSSIAN_UNCERTAINTY_GINAC__
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#include "analyticmeasurementmodel_gaussianuncertainty.h"
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#include "../pdf/gaussian.h"
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#include "../pdf/nonlinearanalyticconditionalgaussian_ginac.h"
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#include <ginac/ginac.h>
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#include <vector>
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#include <iostream>
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namespace
BFL
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{
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using namespace
std;
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class
NonLinearAnalyticMeasurementModelGaussianUncertainty_Ginac
:
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public
AnalyticMeasurementModelGaussianUncertainty
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{
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public
:
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NonLinearAnalyticMeasurementModelGaussianUncertainty_Ginac
(
NonLinearAnalyticConditionalGaussian_Ginac
*
const
pdf);
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// NonLinearAnalyticMeasurementModelGaussianUncertainty_Ginac(const NonLinearAnalyticMeasurementModelGaussianUncertainty_Ginac& model);
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virtual
~
NonLinearAnalyticMeasurementModelGaussianUncertainty_Ginac
();
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// Not yet implemented
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/*
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friend std::ostream& operator<< (std::ostream& os,
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NonLinearAnalyticMeasurementModelGaussianUncertainty_Ginac&
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//m);
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*/
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// redefinition of virtual functions
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virtual
MatrixWrapper::Matrix
df_dxGet (
const
MatrixWrapper::ColumnVector
& u,
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const
MatrixWrapper::ColumnVector
& x);
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virtual
MatrixWrapper::ColumnVector
PredictionGet(
const
MatrixWrapper::ColumnVector
& u,
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const
MatrixWrapper::ColumnVector
& x);
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virtual
MatrixWrapper::SymmetricMatrix
CovarianceGet(
const
MatrixWrapper::ColumnVector
& u,
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const
MatrixWrapper::ColumnVector
& x);
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GiNaC::matrix FunctionGet();
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vector<GiNaC::symbol> StateGet();
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vector<GiNaC::symbol> InputGet();
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vector<GiNaC::symbol> ConditionalGet();
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};
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}
// End namespace BFL
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#endif // __NON_LINEAR_MEASUREMENT_MODEL_GAUSSIAN_UNCERTAINTY_GINAC__
MatrixWrapper::SymmetricMatrix
Definition:
matrix_BOOST.h:109
MatrixWrapper::Matrix
Implementation of Matrixwrapper using Boost.
Definition:
matrix_BOOST.h:46
MatrixWrapper::ColumnVector
Wrapper class for ColumnVectors (Boost implementation)
Definition:
vector_BOOST.h:41
BFL::AnalyticMeasurementModelGaussianUncertainty
Definition:
analyticmeasurementmodel_gaussianuncertainty.h:30
BFL::NonLinearAnalyticMeasurementModelGaussianUncertainty_Ginac
Class for nonlinear analytic measurementmodels with additive gaussian noise.
Definition:
nonlinearanalyticmeasurementmodel_gaussianuncertainty_ginac.h:39
BFL::NonLinearAnalyticConditionalGaussian_Ginac
Conditional Gaussian for an analytic nonlinear system using Ginac:
Definition:
nonlinearanalyticconditionalgaussian_ginac.h:48
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