Bayesian Filtering Library Generated from SVN r
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#include <analyticmeasurementmodel_gaussianuncertainty.h>
Public Member Functions | |
AnalyticMeasurementModelGaussianUncertainty (AnalyticConditionalGaussian *Measurementpdf=NULL) | |
Constructor. | |
virtual | ~AnalyticMeasurementModelGaussianUncertainty () |
Destructor. | |
virtual MatrixWrapper::Matrix | df_dxGet (const MatrixWrapper::ColumnVector &u, const MatrixWrapper::ColumnVector &x) |
Returns H-matrix. | |
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. | |
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, const SampleMthd sampling_method=SampleMthd::DEFAULT, void *sampling_args=NULL) |
Simulate the Measurement, given a certain state, and an input. | |
MatrixWrapper::ColumnVector | Simulate (const MatrixWrapper::ColumnVector &x, const SampleMthd sampling_method=SampleMthd::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 representing all continuous analytic Measurement Models with additive Gaussian Uncertainty
Definition at line 30 of file analyticmeasurementmodel_gaussianuncertainty.h.
AnalyticMeasurementModelGaussianUncertainty | ( | AnalyticConditionalGaussian * | Measurementpdf = NULL | ) |
Constructor.
Measurementpdf | ConditionalPdf<S,T> representing ![]() |
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virtual |
Returns covariance on the measurement.
Reimplemented in LinearAnalyticMeasurementModelGaussianUncertainty, LinearAnalyticMeasurementModelGaussianUncertainty_Implicit, and NonLinearAnalyticMeasurementModelGaussianUncertainty_Ginac.
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Returns H-matrix.
used by extended kalman filter
u | The value of the input in which the derivate is evaluated |
x | The value in the state in which the derivate is evaluated |
Reimplemented in LinearAnalyticMeasurementModelGaussianUncertainty, LinearAnalyticMeasurementModelGaussianUncertainty_Implicit, and NonLinearAnalyticMeasurementModelGaussianUncertainty_Ginac.
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inherited |
Get the MeasurementPDF.
Definition at line 84 of file measurementmodel.h.
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inherited |
Set the MeasurementPDF.
a pointer to the measurement pdf |
Definition at line 89 of file measurementmodel.h.
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Get Measurement Size.
Definition at line 78 of file measurementmodel.h.
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virtual |
Returns estimation of measurement.
Reimplemented in LinearAnalyticMeasurementModelGaussianUncertainty, LinearAnalyticMeasurementModelGaussianUncertainty_Implicit, and NonLinearAnalyticMeasurementModelGaussianUncertainty_Ginac.
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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 |
Definition at line 134 of file measurementmodel.h.
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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 |
Definition at line 125 of file measurementmodel.h.
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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) |
Definition at line 103 of file measurementmodel.h.
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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) |
Definition at line 116 of file measurementmodel.h.
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inherited |
Number of Conditional Arguments.
Definition at line 81 of file measurementmodel.h.
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protectedinherited |
ConditionalPdf representing
Definition at line 62 of file measurementmodel.h.
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protectedinherited |
System with no sensor params??
Definition at line 65 of file measurementmodel.h.