20 #ifndef __NONLINEAR_SYSTEM_CONDITIONAL_GAUSSIAN_GINAC__
21 #define __NONLINEAR_SYSTEM_CONDITIONAL_GAUSSIAN_GINAC__
23 #include "analyticconditionalgaussian_additivenoise.h"
24 #include <ginac/ginac.h>
61 const vector<GiNaC::symbol>& u,
62 const vector<GiNaC::symbol>& x,
64 const vector<GiNaC::symbol>& cond );
76 const vector<GiNaC::symbol>& u,
77 const vector<GiNaC::symbol>& x,
109 virtual MatrixWrapper::Matrix
dfGet(
unsigned int i)
const;
113 GiNaC::matrix func_sym;
114 vector<GiNaC::symbol> cond_sym, u_sym, x_sym;
115 unsigned int cond_size, u_size, x_size, func_size;
116 vector<GiNaC::ex> dfunc_dcond, dfunc_dx;
Abstract Class representing all full Analytical Conditional gaussians with Additive Gaussian Noise.
Class representing Gaussian (or normal density)
Conditional Gaussian for an analytic nonlinear system using Ginac:
virtual ~NonLinearAnalyticConditionalGaussian_Ginac()
Destructor.
virtual MatrixWrapper::SymmetricMatrix CovarianceGet() const
Get the Covariance Matrix E[(x - E[x])^2] of the Analytic pdf.
virtual MatrixWrapper::ColumnVector ExpectedValueGet() const
Get the expected value E[x] of the pdf.
NonLinearAnalyticConditionalGaussian_Ginac(const NonLinearAnalyticConditionalGaussian_Ginac &g)
copy constructor
vector< GiNaC::symbol > ConditionalGet()
Get conditional arguments.
GiNaC::matrix FunctionGet()
return function
vector< GiNaC::symbol > StateGet()
return state symbols
virtual MatrixWrapper::Matrix dfGet(unsigned int i) const
NonLinearAnalyticConditionalGaussian_Ginac(const GiNaC::matrix &func, const vector< GiNaC::symbol > &u, const vector< GiNaC::symbol > &x, const Gaussian &additiveNoise, const vector< GiNaC::symbol > &cond)
constructor
friend std::ostream & operator<<(std::ostream &os, NonLinearAnalyticConditionalGaussian_Ginac &p)
output stream for measurement model
vector< GiNaC::symbol > InputGet()
return substitution symbols
NonLinearAnalyticConditionalGaussian_Ginac(const GiNaC::matrix &func, const vector< GiNaC::symbol > &u, const vector< GiNaC::symbol > &x, const Gaussian &additiveNoise)
constructor