Cognitoware.Robotics.dll
Interface ExtendedKalmanSensorModel<Z, X>
Z: The observation type.
X: The x type.
Implemented Interfaces
Summary
A Gaussian sensor model that can generate a Jacobian matrix at any point.
Method Summary
ConditionalProbabilityOf(Z, X)
Inherited from Cognitoware.Robotics.StateEstimation.SensorModel
GetError(Z)
Inherited from Cognitoware.Robotics.StateEstimation.GaussianSensorModel
Returns the gradient of the non-linear sensor model for the specified observation.
GetMean(X)
Inherited from Cognitoware.Robotics.StateEstimation.GaussianSensorModel
Details
A Gaussian sensor model that can generate a Jacobian matrix at any point.
This sensor model can be non-linear.
The Jacobian matrix represents the gradient of the non-linear function at a point on the function.
This gradient linearizes the non-linear function around a local area.
Method Details
public virtual Matrix GetJacobian(Z observation)
Returns the gradient of the non-linear sensor model for the specified observation.
Let Xi be the ith dimension of the input x (X = [x, y, z] = [Z0, Z1, Z2]).
Also let gi(z, x) calculate the ith dimension of the observation.
Hi,j = ∂gi / ∂Xj.
Parameters:
observation - The expected observation made at a x.
Returns:
The Jacobian matrix of the non-linear sensor model at the specified observation.