Bayesian Filtering Library Generated from SVN r
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Class for nonlinear analytic measurementmodels with additive gaussian noise. More...
#include <nonlinearanalyticmeasurementmodel_gaussianuncertainty_ginac.h>
Public Member Functions | |
NonLinearAnalyticMeasurementModelGaussianUncertainty_Ginac (NonLinearAnalyticConditionalGaussian_Ginac *const pdf) | |
Constructor. | |
virtual | ~NonLinearAnalyticMeasurementModelGaussianUncertainty_Ginac () |
copy constructor | |
virtual MatrixWrapper::Matrix | df_dxGet (const MatrixWrapper::ColumnVector &u, const MatrixWrapper::ColumnVector &x) |
output stream for measurement model | |
virtual MatrixWrapper::ColumnVector | PredictionGet (const MatrixWrapper::ColumnVector &u, const MatrixWrapper::ColumnVector &x) |
Returns estimation of measurement. | |
virtual MatrixWrapper::SymmetricMatrix | CovarianceGet (const MatrixWrapper::ColumnVector &u, const MatrixWrapper::ColumnVector &x) |
Returns covariance on the measurement. | |
GiNaC::matrix | FunctionGet () |
Get function. | |
vector< GiNaC::symbol > | StateGet () |
Get State symbols. | |
vector< GiNaC::symbol > | InputGet () |
Get input symbols. | |
vector< GiNaC::symbol > | ConditionalGet () |
Get conditional arguments. | |
int | MeasurementSizeGet () const |
Get Measurement Size. | |
bool | SystemWithoutSensorParams () const |
Number of Conditional Arguments. | |
ConditionalPdf < MatrixWrapper::ColumnVector, MatrixWrapper::ColumnVector > * | MeasurementPdfGet () |
Get the MeasurementPDF. | |
void | MeasurementPdfSet (ConditionalPdf< MatrixWrapper::ColumnVector, MatrixWrapper::ColumnVector > *pdf) |
Set the MeasurementPDF. | |
MatrixWrapper::ColumnVector | Simulate (const MatrixWrapper::ColumnVector &x, const MatrixWrapper::ColumnVector &s, int sampling_method=DEFAULT, void *sampling_args=NULL) |
Simulate the Measurement, given a certain state, and an input. | |
MatrixWrapper::ColumnVector | Simulate (const MatrixWrapper::ColumnVector &x, int sampling_method=DEFAULT, void *sampling_args=NULL) |
Simulate the system (no input system) | |
Probability | ProbabilityGet (const MatrixWrapper::ColumnVector &z, const MatrixWrapper::ColumnVector &x, const MatrixWrapper::ColumnVector &s) |
Get the probability of a certain measurement. | |
Probability | ProbabilityGet (const MatrixWrapper::ColumnVector &z, const MatrixWrapper::ColumnVector &x) |
Get the probability of a certain measurement. | |
Protected Attributes | |
ConditionalPdf < MatrixWrapper::ColumnVector, MatrixWrapper::ColumnVector > * | _MeasurementPdf |
ConditionalPdf representing ![]() | |
bool | _systemWithoutSensorParams |
System with no sensor params?? |
Class for nonlinear analytic measurementmodels with additive gaussian noise.
This class represents all measurementmodels of the form
Definition at line 39 of file nonlinearanalyticmeasurementmodel_gaussianuncertainty_ginac.h.
NonLinearAnalyticMeasurementModelGaussianUncertainty_Ginac | ( | NonLinearAnalyticConditionalGaussian_Ginac *const | ) |
Constructor.
conditional pdf, gaussian uncertainty |
virtual ~NonLinearAnalyticMeasurementModelGaussianUncertainty_Ginac | ( | ) | [virtual] |
copy constructor
Destructor
void MeasurementPdfSet | ( | ConditionalPdf< MatrixWrapper::ColumnVector , MatrixWrapper::ColumnVector > * | ) | [inherited] |
Set the MeasurementPDF.
a pointer to the measurement pdf |
Probability ProbabilityGet | ( | const MatrixWrapper::ColumnVector & | z, |
const MatrixWrapper::ColumnVector & | x | ||
) | [inherited] |
Get the probability of a certain measurement.
(measurement independent of input) gived a certain state and input
z | the measurement value |
x | x current state of the system |
Probability ProbabilityGet | ( | const MatrixWrapper::ColumnVector & | z, |
const MatrixWrapper::ColumnVector & | x, | ||
const MatrixWrapper::ColumnVector & | s | ||
) | [inherited] |
Get the probability of a certain measurement.
given a certain state and input
z | the measurement value |
x | current state of the system |
s | the sensor param value |
MatrixWrapper::ColumnVector Simulate | ( | const MatrixWrapper::ColumnVector & | x, |
int | sampling_method = DEFAULT , |
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void * | sampling_args = NULL |
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) | [inherited] |
Simulate the system (no input system)
x | current state of the system |
sampling_method | the sampling method to be used while sampling from the Conditional Pdf describing the system (if not specified = DEFAULT) |
sampling_args | Sometimes a sampling method can have some extra parameters (eg mcmc sampling) |
MatrixWrapper::ColumnVector Simulate | ( | const MatrixWrapper::ColumnVector & | x, |
const MatrixWrapper::ColumnVector & | s, | ||
int | sampling_method = DEFAULT , |
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void * | sampling_args = NULL |
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) | [inherited] |
Simulate the Measurement, given a certain state, and an input.
x | current state of the system |
s | sensor parameter |
sampling_method | the sampling method to be used while sampling from the Conditional Pdf describing the system (if not specified = DEFAULT) |
sampling_args | Sometimes a sampling method can have some extra parameters (eg mcmc sampling) |