Bayesian Filtering Library
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Class for linear analytic measurementmodels with additive gaussian noise. More...
#include <linearanalyticmeasurementmodel_gaussianuncertainty.h>
Protected Attributes | |
ConditionalPdf< MatrixWrapper::ColumnVector, MatrixWrapper::ColumnVector > * | _MeasurementPdf |
ConditionalPdf representing ![]() | |
bool | _systemWithoutSensorParams |
System with no sensor params?? | |
Class for linear analytic measurementmodels with additive gaussian noise.
This class represents all measurementmodels of the form
Definition at line 32 of file linearanalyticmeasurementmodel_gaussianuncertainty.h.
Constructor.
Conditional pdf, with Gaussian uncertainty |
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virtual |
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 from AnalyticMeasurementModelGaussianUncertainty.
Reimplemented in LinearAnalyticMeasurementModelGaussianUncertainty_Implicit.
void HSet | ( | const MatrixWrapper::Matrix & | h | ) |
Set Matrix H.
This can be particularly useful for time-varying systems
h | Matrix H |
void JSet | ( | const MatrixWrapper::Matrix & | j | ) |
Set Matrix J.
This can be particularly useful for time-varying systems
j | Matrix J |
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inherited |
Set the MeasurementPDF.
a pointer to the measurement pdf |
Definition at line 96 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 151 of file measurementmodel.h.
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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 162 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 122 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 138 of file measurementmodel.h.