19 #ifndef __FILTER_PROP_DENSITY__
20 #define __FILTER_PROP_DENSITY__
22 #include "analyticconditionalgaussian.h"
24 #include "../filter/filter.h"
25 #include "../model/analyticmeasurementmodel_gaussianuncertainty.h"
26 #include "../model/analyticsystemmodel_gaussianuncertainty.h"
62 virtual MatrixWrapper::Matrix
dfGet(
unsigned int i)
const;
87 MatrixWrapper::SymmetricMatrix _sample_cov;
Abstract Class representing all FULL Analytical Conditional gaussians.
Class for analytic system models with additive Gauss. uncertainty.
Proposal Density for non-linear systems with additive Gaussian Noise (using a (analytic) Filter)
virtual ~FilterProposalDensity()
Destructor.
virtual MatrixWrapper::SymmetricMatrix CovarianceGet() const
Get the Covariance Matrix E[(x - E[x])^2] of the Analytic pdf.
FilterProposalDensity(AnalyticSystemModelGaussianUncertainty *SysModel, AnalyticMeasurementModelGaussianUncertainty *MeasModel)
Constructor.
virtual MatrixWrapper::ColumnVector ExpectedValueGet() const
Get the expected value E[x] of the pdf.
FilterProposalDensity(const FilterProposalDensity &fpd)
Copy constructor.
void MeasurementModelSet(AnalyticMeasurementModelGaussianUncertainty *MeasModel)
Set Measurementmodel.
virtual MatrixWrapper::Matrix dfGet(unsigned int i) const
returns derivative from function to n-th conditional variable
virtual void FilterStep() const
internal method
void SystemModelSet(AnalyticSystemModelGaussianUncertainty *SysModel)
Set SystemModel.
void SampleCovSet(MatrixWrapper::SymmetricMatrix &cov)
Set SampleCov.
Class representing Gaussian (or normal density)