18 #ifndef __LINEAR_MEASUREMENT_MODEL_GAUSSIAN_UNCERTAINTY__
19 #define __LINEAR_MEASUREMENT_MODEL_GAUSSIAN_UNCERTAINTY__
21 #include "analyticmeasurementmodel_gaussianuncertainty.h"
22 #include "../pdf/gaussian.h"
23 #include "../pdf/linearanalyticconditionalgaussian.h"
48 virtual MatrixWrapper::Matrix
df_dxGet (
const MatrixWrapper::ColumnVector& u,
const MatrixWrapper::ColumnVector& x);
49 virtual MatrixWrapper::ColumnVector
PredictionGet(
const MatrixWrapper::ColumnVector& u,
const MatrixWrapper::ColumnVector& x);
50 virtual MatrixWrapper::SymmetricMatrix
CovarianceGet(
const MatrixWrapper::ColumnVector& u,
const MatrixWrapper::ColumnVector& x);
56 void HSet(
const MatrixWrapper::Matrix& h);
62 void JSet(
const MatrixWrapper::Matrix& j);
65 const MatrixWrapper::Matrix&
HGet()
const;
68 const MatrixWrapper::Matrix&
JGet()
const;
Linear Conditional Gaussian.
Class for linear analytic measurementmodels with additive gaussian noise.
virtual MatrixWrapper::SymmetricMatrix CovarianceGet(const MatrixWrapper::ColumnVector &u, const MatrixWrapper::ColumnVector &x)
Returns covariance on the measurement.
virtual MatrixWrapper::ColumnVector PredictionGet(const MatrixWrapper::ColumnVector &u, const MatrixWrapper::ColumnVector &x)
Returns estimation of measurement.
LinearAnalyticMeasurementModelGaussianUncertainty(LinearAnalyticConditionalGaussian *pdf=NULL)
Constructor.
const MatrixWrapper::Matrix & JGet() const
Get Matrix J.
void HSet(const MatrixWrapper::Matrix &h)
Set Matrix H.
const MatrixWrapper::Matrix & HGet() const
Get Matrix H.
void JSet(const MatrixWrapper::Matrix &j)
Set Matrix J.
virtual MatrixWrapper::Matrix df_dxGet(const MatrixWrapper::ColumnVector &u, const MatrixWrapper::ColumnVector &x)
Returns H-matrix.