Bayesian Filtering Library Generated from SVN r
|
00001 // $Id: nonlinearanalyticmeasurementmodel_gaussianuncertainty_ginac.h 29830 2009-01-14 15:10:41Z kgadeyne $ 00002 // Copyright (C) 2002 Klaas Gadeyne <first dot last at gmail dot com> 00003 // Wim Meeussen <wim dot meeussen at mech dot kuleuven dot ac dot be> 00004 // 00005 // This program is free software; you can redistribute it and/or modify 00006 // it under the terms of the GNU Lesser General Public License as published by 00007 // the Free Software Foundation; either version 2.1 of the License, or 00008 // (at your option) any later version. 00009 // 00010 // This program is distributed in the hope that it will be useful, 00011 // but WITHOUT ANY WARRANTY; without even the implied warranty of 00012 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00013 // GNU Lesser General Public License for more details. 00014 // 00015 // You should have received a copy of the GNU Lesser General Public License 00016 // along with this program; if not, write to the Free Software 00017 // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. 00018 // 00019 #ifndef __NON_LINEAR_MEASUREMENT_MODEL_GAUSSIAN_UNCERTAINTY_GINAC__ 00020 #define __NON_LINEAR_MEASUREMENT_MODEL_GAUSSIAN_UNCERTAINTY_GINAC__ 00021 00022 #include "analyticmeasurementmodel_gaussianuncertainty.h" 00023 #include "../pdf/gaussian.h" 00024 #include "../pdf/nonlinearanalyticconditionalgaussian_ginac.h" 00025 #include <ginac/ginac.h> 00026 #include <vector> 00027 #include <iostream> 00028 00029 namespace BFL 00030 { 00031 00032 using namespace std; 00033 00035 00039 class NonLinearAnalyticMeasurementModelGaussianUncertainty_Ginac : 00040 public AnalyticMeasurementModelGaussianUncertainty 00041 { 00042 00043 public: 00045 00047 NonLinearAnalyticMeasurementModelGaussianUncertainty_Ginac(NonLinearAnalyticConditionalGaussian_Ginac* const pdf); 00048 00050 // NonLinearAnalyticMeasurementModelGaussianUncertainty_Ginac(const NonLinearAnalyticMeasurementModelGaussianUncertainty_Ginac& model); 00051 00053 virtual ~NonLinearAnalyticMeasurementModelGaussianUncertainty_Ginac(); 00054 00056 // Not yet implemented 00057 /* 00058 friend std::ostream& operator<< (std::ostream& os, 00059 NonLinearAnalyticMeasurementModelGaussianUncertainty_Ginac& 00060 //m); 00061 */ 00062 00063 // redefinition of virtual functions 00064 virtual MatrixWrapper::Matrix df_dxGet (const MatrixWrapper::ColumnVector& u, 00065 const MatrixWrapper::ColumnVector& x); 00066 virtual MatrixWrapper::ColumnVector PredictionGet(const MatrixWrapper::ColumnVector& u, 00067 const MatrixWrapper::ColumnVector& x); 00068 virtual MatrixWrapper::SymmetricMatrix CovarianceGet(const MatrixWrapper::ColumnVector& u, 00069 const MatrixWrapper::ColumnVector& x); 00070 00072 GiNaC::matrix FunctionGet(); 00073 00075 vector<GiNaC::symbol> StateGet(); 00076 00078 vector<GiNaC::symbol> InputGet(); 00079 00081 vector<GiNaC::symbol> ConditionalGet(); 00082 00083 }; 00084 00085 } // End namespace BFL 00086 00087 #endif // __NON_LINEAR_MEASUREMENT_MODEL_GAUSSIAN_UNCERTAINTY_GINAC__