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.
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, 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??

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()

NonLinearAnalyticMeasurementModelGaussianUncertainty_Ginac

(

NonLinearAnalyticConditionalGaussian_Ginac *const

pdf

)

Constructor.

Parameters

pdf	conditional pdf, gaussian uncertainty

~NonLinearAnalyticMeasurementModelGaussianUncertainty_Ginac()

virtual ~NonLinearAnalyticMeasurementModelGaussianUncertainty_Ginac ( )

virtual

copy constructor

Destructor

Member Function Documentation

CovarianceGet()

virtual MatrixWrapper::SymmetricMatrix CovarianceGet ( const MatrixWrapper::ColumnVector & u, const MatrixWrapper::ColumnVector & x )

virtual

Returns covariance on the measurement.

Reimplemented from AnalyticMeasurementModelGaussianUncertainty.

df_dxGet()

virtual MatrixWrapper::Matrix df_dxGet ( const MatrixWrapper::ColumnVector & u, const MatrixWrapper::ColumnVector & x )

virtual

output stream for measurement model

Reimplemented from AnalyticMeasurementModelGaussianUncertainty.

MeasurementPdfGet()

ConditionalPdf< MatrixWrapper::ColumnVector, MatrixWrapper::ColumnVector > * MeasurementPdfGet ( )

inherited

Get the MeasurementPDF.

Definition at line 84 of file measurementmodel.h.

MeasurementPdfSet()

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

inherited

Set the MeasurementPDF.

Parameters

pdf	a pointer to the measurement pdf

Definition at line 89 of file measurementmodel.h.

MeasurementSizeGet()

int MeasurementSizeGet ( ) const

inherited

Get Measurement Size.

Definition at line 78 of file measurementmodel.h.

PredictionGet()

virtual MatrixWrapper::ColumnVector PredictionGet ( const MatrixWrapper::ColumnVector & u, const MatrixWrapper::ColumnVector & x )

virtual

Returns estimation of measurement.

Reimplemented from AnalyticMeasurementModelGaussianUncertainty.

ProbabilityGet() [1/2]

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

Definition at line 134 of file measurementmodel.h.

ProbabilityGet() [2/2]

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

Definition at line 125 of file measurementmodel.h.

Simulate() [1/2]

MatrixWrapper::ColumnVector Simulate ( const MatrixWrapper::ColumnVector & x, const MatrixWrapper::ColumnVector & s, const SampleMthd sampling_method = SampleMthd::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

Definition at line 103 of file measurementmodel.h.

Simulate() [2/2]

MatrixWrapper::ColumnVector Simulate ( const MatrixWrapper::ColumnVector & x, const SampleMthd sampling_method = SampleMthd::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)

Definition at line 116 of file measurementmodel.h.

SystemWithoutSensorParams()

bool SystemWithoutSensorParams ( ) const

inherited

Number of Conditional Arguments.

Definition at line 81 of file measurementmodel.h.

Member Data Documentation

_MeasurementPdf

ConditionalPdf<MatrixWrapper::ColumnVector,MatrixWrapper::ColumnVector>* _MeasurementPdf

protectedinherited

ConditionalPdf representing .

Definition at line 62 of file measurementmodel.h.

_systemWithoutSensorParams

bool _systemWithoutSensorParams

protectedinherited

System with no sensor params??

Definition at line 65 of file measurementmodel.h.

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

• nonlinearanalyticmeasurementmodel_gaussianuncertainty_ginac.h