NonLinearAnalyticMeasurementModelGaussianUncertainty_Ginac Class Reference

Class for nonlinear analytic measurementmodels with additive gaussian noise. More...

#include <nonlinearanalyticmeasurementmodel_gaussianuncertainty_ginac.h>

Inheritance diagram for NonLinearAnalyticMeasurementModelGaussianUncertainty_Ginac:

Public Member Functions
	NonLinearAnalyticMeasurementModelGaussianUncertainty_Ginac (NonLinearAnalyticConditionalGaussian_Ginac *const pdf)
	Constructor. More...
virtual	~NonLinearAnalyticMeasurementModelGaussianUncertainty_Ginac ()
	copy constructor More...
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. More...
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. More...
MatrixWrapper::ColumnVector	Simulate (const MatrixWrapper::ColumnVector &x, int sampling_method=DEFAULT, void *sampling_args=NULL)
	Simulate the system (no input system) More...
Probability	ProbabilityGet (const MatrixWrapper::ColumnVector &z, const MatrixWrapper::ColumnVector &x, const MatrixWrapper::ColumnVector &s)
	Get the probability of a certain measurement. More...
Probability	ProbabilityGet (const MatrixWrapper::ColumnVector &z, const MatrixWrapper::ColumnVector &x)
	Get the probability of a certain measurement. More...

Protected Attributes
ConditionalPdf < MatrixWrapper::ColumnVector, MatrixWrapper::ColumnVector > *	_MeasurementPdf
	ConditionalPdf representing .
bool	_systemWithoutSensorParams
	System with no sensor params??

Detailed Description

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.

Constructor & Destructor Documentation

NonLinearAnalyticMeasurementModelGaussianUncertainty_Ginac

(

NonLinearAnalyticConditionalGaussian_Ginac *const

pdf

)

Constructor.

Parameters

pdf	conditional pdf, gaussian uncertainty

virtual ~NonLinearAnalyticMeasurementModelGaussianUncertainty_Ginac ( )

virtual

copy constructor

Destructor

Member Function Documentation

void MeasurementPdfSet ( ConditionalPdf< MatrixWrapper::ColumnVector , MatrixWrapper::ColumnVector > *  pdf )

inherited

Set the MeasurementPDF.

Parameters

pdf	a pointer to the measurement pdf

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

Parameters

z	the measurement value
x	current state of the system
s	the sensor param value

Returns

the "probability" of the measurement

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

Parameters

z	the measurement value
x	x current state of the system

Returns

the "probability" of the measurement

MatrixWrapper::ColumnVector Simulate ( const MatrixWrapper::ColumnVector &  x, const MatrixWrapper::ColumnVector &  s, int  sampling_method = DEFAULT, void *  sampling_args = NULL  )

inherited

Simulate the Measurement, given a certain state, and an input.

Parameters

x	current state of the system
s	sensor parameter

Returns

Measurement generated by simulating the measurement model

Parameters

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)

Note

Maybe the return value would better be a Sample<StateVar> instead of a StateVar

MatrixWrapper::ColumnVector Simulate ( const MatrixWrapper::ColumnVector &  x, int  sampling_method = DEFAULT, void *  sampling_args = NULL  )

inherited

Simulate the system (no input system)

Parameters

x	current state of the system

Returns

State where we arrive by simulating the measurement model

Note

Maybe the return value would better be a Sample<StateVar> instead of a StateVar

Parameters

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)

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The documentation for this class was generated from the following file:

• nonlinearanalyticmeasurementmodel_gaussianuncertainty_ginac.h