Class for nonlinear analytic systemmodels with additive gaussian noise. More...

#include <nonlinearanalyticsystemmodel_gaussianuncertainty_ginac.h>

Inheritance diagram for NonLinearAnalyticSystemModelGaussianUncertainty_Ginac:

Public Member Functions
	NonLinearAnalyticSystemModelGaussianUncertainty_Ginac (NonLinearAnalyticConditionalGaussian_Ginac *const pdf)
	Constructor.
virtual	~NonLinearAnalyticSystemModelGaussianUncertainty_Ginac ()
	Destructor.
GiNaC::matrix	FunctionGet ()
	output stream for system model
vector< GiNaC::symbol >	StateGet ()
	Get State symbols.
vector< GiNaC::symbol >	InputGet ()
	Get input symbols.
MatrixWrapper::Matrix	df_dxGet (const MatrixWrapper::ColumnVector &u, const MatrixWrapper::ColumnVector &x)
	Returns F-matrix.
MatrixWrapper::ColumnVector	PredictionGet (const MatrixWrapper::ColumnVector &u, const MatrixWrapper::ColumnVector &x)
	Returns prediction of state.
MatrixWrapper::SymmetricMatrix	CovarianceGet (const MatrixWrapper::ColumnVector &u, const MatrixWrapper::ColumnVector &x)
	Covariance of system noise.
int	StateSizeGet () const
	Get State Size.
bool	SystemWithoutInputs () const
	Has the system inputs or not.
ConditionalPdf < MatrixWrapper::ColumnVector, MatrixWrapper::ColumnVector > *	SystemPdfGet ()
	Get the SystemPDF.
void	SystemPdfSet (ConditionalPdf< MatrixWrapper::ColumnVector, MatrixWrapper::ColumnVector > *pdf)
	Set the SystemPDF.
MatrixWrapper::ColumnVector	Simulate (const MatrixWrapper::ColumnVector &x, const MatrixWrapper::ColumnVector &u, int sampling_method=DEFAULT, void *sampling_args=NULL)
	Simulate the system.
MatrixWrapper::ColumnVector	Simulate (const MatrixWrapper::ColumnVector &x, int sampling_method=DEFAULT, void *sampling_args=NULL)
	Simulate the system (no input system)
Probability	ProbabilityGet (const MatrixWrapper::ColumnVector &x_k, const MatrixWrapper::ColumnVector &x_kminusone, const MatrixWrapper::ColumnVector &u)
	Get the probability of arriving in a next state.
Probability	ProbabilityGet (const MatrixWrapper::ColumnVector &x_k, const MatrixWrapper::ColumnVector &x_kminusone)
	Get the probability of arriving in a next state.
Protected Attributes
ConditionalPdf < MatrixWrapper::ColumnVector, MatrixWrapper::ColumnVector > *	_SystemPdf
	ConditionalPdf representing $P(X_k \| X_{k-1}, U_{k})$ .
bool	_systemWithoutInputs
	System with no inputs?

Detailed Description

Class for nonlinear analytic systemmodels with additive gaussian noise.

This class represents all measurementmodels of the form

$x_k = f(x_{k-}) + N(\mu, \Sigma)$

Definition at line 40 of file nonlinearanalyticsystemmodel_gaussianuncertainty_ginac.h.

Constructor & Destructor Documentation

NonLinearAnalyticSystemModelGaussianUncertainty_Ginac ( NonLinearAnalyticConditionalGaussian_Ginac *const pdf )

Constructor.

Parameters:

pdf	conditional pdf, gaussian uncertainty

Member Function Documentation

MatrixWrapper::Matrix df_dxGet	(	const MatrixWrapper::ColumnVector &	u,
		const MatrixWrapper::ColumnVector &	x
	)		`[inherited]`

Returns F-matrix.

$F = \frac{df}{dx} \mid_{u,x}$

used by kalman filter variants

Parameters:

u	The value of the input in which the derivate is evaluated
x	The value in the state in which the derivate is evaluated

Bug:: Should actually be defined for _any_ continuous system model! There should be a class between this one and system model tout court, not assuming gaussian uncertainty!

GiNaC::matrix FunctionGet ( )

output stream for system model

Get function

Probability ProbabilityGet	(	const MatrixWrapper::ColumnVector &	x_k,
		const MatrixWrapper::ColumnVector &	x_kminusone,
		const MatrixWrapper::ColumnVector &	u
	)		`[inherited]`

Get the probability of arriving in a next state.

Parameters:

x_k	the next state (at time k)
x_kminusone	the current state (at time k-1)
u	the input

Returns:: the probability value

Probability ProbabilityGet	(	const MatrixWrapper::ColumnVector &	x_k,
		const MatrixWrapper::ColumnVector &	x_kminusone
	)		`[inherited]`

Get the probability of arriving in a next state.

(no-input-system)

Parameters:

x_k	the next state (at time k)
x_kminusone	the current state (at time k-1)

Returns:: the probability value

MatrixWrapper::ColumnVector Simulate	(	const MatrixWrapper::ColumnVector &	x,
		const MatrixWrapper::ColumnVector &	u,
		int	sampling_method = `DEFAULT`,
		void *	sampling_args = `NULL`
	)		`[inherited]`

Simulate the system.

Parameters:

x	current state of the system
u	input to the system

Returns:: State where we arrive by simulating the system model for 1 step

Parameters:

sampling_method	the sampling method to be used while sampling from the Conditional Pdf describing the system (if not specified = DEFAULT)
sampling_args	Sometimes a sampling method can have some extra parameters (eg mcmc sampling)

Note:: Maybe the return value would better be a Sample<T> instead of a T

MatrixWrapper::ColumnVector Simulate	(	const MatrixWrapper::ColumnVector &	x,
		int	sampling_method = `DEFAULT`,
		void *	sampling_args = `NULL`
	)		`[inherited]`

Simulate the system (no input system)

Parameters:

x	current state of the system

Returns:: State where we arrive by simulating the system model for 1 step

Note:: Maybe the return value would better be a Sample<T> instead of a T

Parameters:

sampling_method	the sampling method to be used while sampling from the Conditional Pdf describing the system (if not specified = DEFAULT)
sampling_args	Sometimes a sampling method can have some extra parameters (eg mcmc sampling)

int StateSizeGet ( ) const [inherited]

Get State Size.

Copy constructor SystemModel(const SystemModel<T>& model);

Returns:: the statesize of the system

ConditionalPdf<MatrixWrapper::ColumnVector ,MatrixWrapper::ColumnVector >* SystemPdfGet ( ) [inherited]

Get the SystemPDF.

Returns:: a reference to the ConditionalPdf describing the system

void SystemPdfSet ( ConditionalPdf< MatrixWrapper::ColumnVector , MatrixWrapper::ColumnVector > * pdf ) [inherited]

Set the SystemPDF.

Parameters:

pdf	a reference to the ConditionalPdf describing the system

The documentation for this class was generated from the following file:

nonlinearanalyticsystemmodel_gaussianuncertainty_ginac.h

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation