00001 // $Id: analyticmeasurementmodel_gaussianuncertainty.h 29830 2009-01-14 15:10:41Z kgadeyne $ 00002 // Copyright (C) 2002 Klaas Gadeyne <first dot last at gmail dot com> 00003 // 00004 // This program is free software; you can redistribute it and/or modify 00005 // it under the terms of the GNU Lesser General Public License as published by 00006 // the Free Software Foundation; either version 2.1 of the License, or 00007 // (at your option) any later version. 00008 // 00009 // This program is distributed in the hope that it will be useful, 00010 // but WITHOUT ANY WARRANTY; without even the implied warranty of 00011 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00012 // GNU Lesser General Public License for more details. 00013 // 00014 // You should have received a copy of the GNU Lesser General Public License 00015 // along with this program; if not, write to the Free Software 00016 // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. 00017 // 00018 #ifndef __MEASUREMENT_MODEL_GAUSSIANUNCERTAINTY__ 00019 #define __MEASUREMENT_MODEL_GAUSSIANUNCERTAINTY__ 00020 00021 #include "../pdf/analyticconditionalgaussian.h" 00022 #include "measurementmodel.h" 00023 00024 namespace BFL 00025 { 00026 00030 class AnalyticMeasurementModelGaussianUncertainty: public MeasurementModel<MatrixWrapper::ColumnVector,MatrixWrapper::ColumnVector> 00031 { 00032 public: 00034 00038 AnalyticMeasurementModelGaussianUncertainty(AnalyticConditionalGaussian* Measurementpdf = NULL); 00039 00040 // default Copy Constructor, interface class 00041 00043 virtual ~AnalyticMeasurementModelGaussianUncertainty(); 00044 00046 00050 virtual MatrixWrapper::Matrix df_dxGet(const MatrixWrapper::ColumnVector& u, const MatrixWrapper::ColumnVector& x); 00051 00053 virtual MatrixWrapper::ColumnVector PredictionGet(const MatrixWrapper::ColumnVector& u, const MatrixWrapper::ColumnVector& x); 00054 00056 virtual MatrixWrapper::SymmetricMatrix CovarianceGet(const MatrixWrapper::ColumnVector& u, const MatrixWrapper::ColumnVector& x); 00057 00058 00059 }; 00060 00061 } // End namespace BFL 00062 00063 #endif // __MEASUREMENT_MODEL_GAUSSIANUNCERTAINTY__