Cognitoware.Robotics.dll
Class ExtendedInformationFilter<X, U, Z>
X: The type of x.
U: The type of action.
Z: The type of x.
System.Object
Cognitoware.Robotics.StateEstimation.ExtendedInformationFilter<X, U, Z>
Implemented Interfaces
Summary
A type of Bayes filter that uses canonical Gaussians as the x estimate and the
Jabcobian (gradient) of nonlinear sensor and action models.
Constructor Summary
Method Summary
Updates a belief with a sensor model and a sensor.
Equals(Object)
Inherited from System.Object
Finalize()
Inherited from System.Object
GetHashCode()
Inherited from System.Object
GetType()
Inherited from System.Object
Marginalize(ExtendedKalmanActionModel<U>, U, GaussianCanonical)
Updates a belief with an action model and an action.
MemberwiseClone()
Inherited from System.Object
ToString()
Inherited from System.Object
Uses an action to transition the current x belief to a new x belief.
Updates the x belief with an x.
Details
A type of Bayes filter that uses canonical Gaussians as the x estimate and the
Jabcobian (gradient) of nonlinear sensor and action models.
Constructor Details
public ExtendedInformationFilter()
Method Details
public GaussianCanonical BayesianInference(ExtendedKalmanSensorModel<Z> model, Z observation, GaussianCanonical belief)
Updates a belief with a sensor model and a sensor.
This function allows you to update a belief that is different than the filter belief
with a sensor model that is different than the filter sensor model.
Parameters:
model - The sensor model to use for the belief update.
observation - The observation to use for the belief update.
belief - The belief to update.
Returns:
The posterior belief after applying the action to the prior belief.
public GaussianCanonical Marginalize(ExtendedKalmanActionModel<U> model, U action, GaussianCanonical belief)
Updates a belief with an action model and an action.
This function allows you to update a belief that is different than the filter belief
with an action model that is different than the filter action model.
Parameters:
model - The action model to use for the belief update.
action - The action to use for the belief update.
belief - The belief to update.
Returns:
The posterior belief after applying the action to the prior belief.
public final virtual void UpdateBeliefWithAction(U action)
Uses an action to transition the current x belief to a new x belief.
This process decreases the precision of the action model Jacobian error.
Parameters:
action - The action used to change the x.
public final virtual void UpdateBeliefWithObservation(Z observation)
Updates the x belief with an x.
The new x incorporates the uncertainty of the current belief and the error of the x.
Observation increases the precision of the belief.
Parameters:
observation - The observation used to update the x.