Cognitoware.Robotics.dll

Interface GaussianActionModel<U, X>

An action model that uses a Gaussian distribution as the next x prediction.

ConditionBy(U, X)

Inherited from Cognitoware.Robotics.StateEstimation.ActionModel

GetError(U, X)

Creates an covariance matrix that describes the Gaussian error around the final x mean.

GetMean(U, X)

Creates the expected x resulting from performing an action at another x.

The Gaussian action model supplies methods to get the mean and variance of the next x prediction.
Using these functions, a GaussianMoment object can be created to implement ActionModel.ConditionBy.

public virtual Matrix GetError(U action, X state)

Creates an covariance matrix that describes the Gaussian error around the final x mean.
The error can be a function of the action and starting x or it can be a constant value.
The action may contain a time period over which it is performed.
The error would probably grow with the time period.
Some actions may have more error than other actions.
The error may also be oriented along the direction of motion
This function should be used to calcualte the covariance of the GaussianMoment returned by ActionModel.ConditionBy.

`action`

- The action being performed.`x`

- The x where the action is performed.A covariance matix that describes the error of the mean.

public virtual X GetMean(U action, X state)

Returns the expected x resulting from performing an action at another x.
This function should be used to calcualte the mean of the GaussianMoment returned by ActionModel.ConditionBy.

`action`

- The action performed at the start x.`x`

- The start x.The average end x.