18 #ifndef __LINEAR_MEASUREMENT_MODEL_GAUSSIAN_UNCERTAINTY_IMPLICIT__
19 #define __LINEAR_MEASUREMENT_MODEL_GAUSSIAN_UNCERTAINTY_IMPLICIT__
22 #include "../pdf/gaussian.h"
23 #include "../pdf/linearanalyticconditionalgaussian.h"
24 #include "linearanalyticmeasurementmodel_gaussianuncertainty.h"
55 virtual const MatrixWrapper::ColumnVector& fGet ()
const =0;
56 virtual const int TypeGet ()
const=0;
57 virtual MatrixWrapper::Matrix& dfGet (
int number) =0 ;
63 virtual MatrixWrapper::Matrix
df_dxGet (
const MatrixWrapper::ColumnVector& z,
const MatrixWrapper::ColumnVector& x) =0;
69 virtual MatrixWrapper::Matrix&
df_dzGet (
const MatrixWrapper::ColumnVector& z,
const MatrixWrapper::ColumnVector& x)=0;
71 virtual MatrixWrapper::ColumnVector
PredictionGet(
const MatrixWrapper::ColumnVector& z,
const MatrixWrapper::ColumnVector& x)=0;
93 virtual MatrixWrapper::SymmetricMatrix
CovarianceGet(
const MatrixWrapper::ColumnVector& z,
const MatrixWrapper::ColumnVector& x)=0;
94 virtual void Calculate(
const MatrixWrapper::ColumnVector& x ,
const MatrixWrapper::ColumnVector& z,
const MatrixWrapper::Matrix& R)=0;
Linear Conditional Gaussian.
Class for linear analytic measurementmodels with additive gaussian noise.
virtual MatrixWrapper::ColumnVector ExpectedValueGet()=0
Return a prediction for the mean of the noise on the linear measurement equation, using the current x...
virtual const MatrixWrapper::Matrix & SRCovariance() const =0
Returns square root of the covariance of the measurements z.
LinearAnalyticMeasurementModelGaussianUncertainty_Implicit()
Constructor.
virtual ~LinearAnalyticMeasurementModelGaussianUncertainty_Implicit()
Destructor.
LinearAnalyticMeasurementModelGaussianUncertainty_Implicit(LinearAnalyticConditionalGaussian *pdf)
Constructor.
virtual MatrixWrapper::Matrix & df_dzGet(const MatrixWrapper::ColumnVector &z, const MatrixWrapper::ColumnVector &x)=0
Returns D-matrix calculated with measurement z and state x.
virtual MatrixWrapper::ColumnVector PredictionGet(const MatrixWrapper::ColumnVector &z, const MatrixWrapper::ColumnVector &x)=0
Return a prediction for the mean of the noise on the linear measurement equation, calculated with mea...
virtual MatrixWrapper::SymmetricMatrix CovarianceGet(const MatrixWrapper::ColumnVector &z, const MatrixWrapper::ColumnVector &x)=0
Returns covariance of the noise on the linearised measurement model evaluated using current z and sta...
virtual const int & Is_Identity() const =0
Returns 1 if D-matrix equals the identity matrix else 0.
virtual MatrixWrapper::Matrix df_dxGet(const MatrixWrapper::ColumnVector &z, const MatrixWrapper::ColumnVector &x)=0
Returns H-matrix calculated with measurement z and state x.
virtual MatrixWrapper::SymmetricMatrix & CovarianceGet()=0
Returns covariance of the noise on the linearised measurement model evaluated using measurements z an...
Class for linear analytic measurementmodels with additive gaussian noise.