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,
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;
123 #endif // __NONLINEAR_SYSTEM_CONDITIONAL_GAUSSIAN_GINAC__ vector< GiNaC::symbol > StateGet()
return state symbols
vector< GiNaC::symbol > ConditionalGet()
Get conditional arguments.
friend std::ostream & operator<<(std::ostream &os, NonLinearAnalyticConditionalGaussian_Ginac &p)
output stream for measurement model
virtual MatrixWrapper::ColumnVector ExpectedValueGet() const
Get the expected value E[x] of the pdf.
Class representing Gaussian (or normal density)
Conditional Gaussian for an analytic nonlinear system using Ginac:
Abstract Class representing all full Analytical Conditional gaussians with Additive Gaussian Noise...
Wrapper class for ColumnVectors (Boost implementation)
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
Implementation of Matrixwrapper using Boost.
virtual ~NonLinearAnalyticConditionalGaussian_Ginac()
Destructor.
virtual MatrixWrapper::SymmetricMatrix CovarianceGet() const
Get the Covariance Matrix E[(x - E[x])^2] of the Analytic pdf.
virtual MatrixWrapper::Matrix dfGet(unsigned int i) const
vector< GiNaC::symbol > InputGet()
return substitution symbols
GiNaC::matrix FunctionGet()
return function