Class for nonlinear analytic measurementmodels with additive gaussian noise.
More...
#include <nonlinearanalyticmeasurementmodel_gaussianuncertainty_ginac.h>
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| NonLinearAnalyticMeasurementModelGaussianUncertainty_Ginac (NonLinearAnalyticConditionalGaussian_Ginac *const pdf) |
| Constructor. More...
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virtual | ~NonLinearAnalyticMeasurementModelGaussianUncertainty_Ginac () |
| copy constructor More...
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virtual MatrixWrapper::Matrix | df_dxGet (const MatrixWrapper::ColumnVector &u, const MatrixWrapper::ColumnVector &x) |
| output stream for measurement model
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virtual MatrixWrapper::ColumnVector | PredictionGet (const MatrixWrapper::ColumnVector &u, const MatrixWrapper::ColumnVector &x) |
| Returns estimation of measurement.
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virtual MatrixWrapper::SymmetricMatrix | CovarianceGet (const MatrixWrapper::ColumnVector &u, const MatrixWrapper::ColumnVector &x) |
| Returns covariance on the measurement.
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GiNaC::matrix | FunctionGet () |
| Get function.
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vector< GiNaC::symbol > | StateGet () |
| Get State symbols.
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vector< GiNaC::symbol > | InputGet () |
| Get input symbols.
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vector< GiNaC::symbol > | ConditionalGet () |
| Get conditional arguments.
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int | MeasurementSizeGet () const |
| Get Measurement Size.
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bool | SystemWithoutSensorParams () const |
| Number of Conditional Arguments.
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ConditionalPdf< MatrixWrapper::ColumnVector, MatrixWrapper::ColumnVector > * | MeasurementPdfGet () |
| Get the MeasurementPDF.
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void | MeasurementPdfSet (ConditionalPdf< MatrixWrapper::ColumnVector, MatrixWrapper::ColumnVector > *pdf) |
| Set the MeasurementPDF. More...
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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. More...
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MatrixWrapper::ColumnVector | Simulate (const MatrixWrapper::ColumnVector &x, const SampleMthd sampling_method=SampleMthd::DEFAULT, void *sampling_args=NULL) |
| Simulate the system (no input system) More...
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Probability | ProbabilityGet (const MatrixWrapper::ColumnVector &z, const MatrixWrapper::ColumnVector &x, const MatrixWrapper::ColumnVector &s) |
| Get the probability of a certain measurement. More...
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Probability | ProbabilityGet (const MatrixWrapper::ColumnVector &z, const MatrixWrapper::ColumnVector &x) |
| Get the probability of a certain measurement. More...
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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()
Constructor.
- Parameters
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pdf | conditional pdf, gaussian uncertainty |
◆ ~NonLinearAnalyticMeasurementModelGaussianUncertainty_Ginac()
copy constructor
Destructor
◆ MeasurementPdfSet()
Set the MeasurementPDF.
- Parameters
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pdf | a pointer to the measurement pdf |
◆ ProbabilityGet() [1/2]
Probability ProbabilityGet |
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const MeasVar & |
z, |
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const StateVar & |
x |
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inherited |
Get the probability of a certain measurement.
(measurement independent of input) gived a certain state and input
- Parameters
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z | the measurement value |
x | x current state of the system |
- Returns
- the "probability" of the measurement
◆ ProbabilityGet() [2/2]
Probability ProbabilityGet |
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const MeasVar & |
z, |
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const StateVar & |
x, |
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const StateVar & |
s |
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inherited |
Get the probability of a certain measurement.
given a certain state and input
- Parameters
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z | the measurement value |
x | current state of the system |
s | the sensor param value |
- Returns
- the "probability" of the measurement
◆ Simulate() [1/2]
MatrixWrapper::ColumnVector Simulate |
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const StateVar & |
x, |
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const StateVar & |
s, |
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const SampleMthd |
sampling_method = SampleMthd::DEFAULT , |
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void * |
sampling_args = NULL |
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inherited |
Simulate the Measurement, given a certain state, and an input.
- Parameters
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x | current state of the system |
s | sensor parameter |
- Returns
- Measurement generated by simulating the measurement model
- Parameters
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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
◆ Simulate() [2/2]
MatrixWrapper::ColumnVector Simulate |
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const StateVar & |
x, |
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const SampleMthd |
sampling_method = SampleMthd::DEFAULT , |
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void * |
sampling_args = NULL |
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) |
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inherited |
Simulate the system (no input system)
- Parameters
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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
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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) |
The documentation for this class was generated from the following file: