Cognitoware.Robotics.dll
Interface GaussianSensorModel<Z, X>
Z: The observation type.
X: The x type.
Implemented Interfaces
Summary
A sensor model that uses a Gaussian distribution as the observation prediction.
Method Summary
ConditionalProbabilityOf(Z, X)
Inherited from Cognitoware.Robotics.StateEstimation.SensorModel
Creates an covariance matrix that describes the Gaussian error around the sensor mean.
Creates the expected observation from a specific x.
Details
A sensor model that uses a Gaussian distribution as the observation prediction.
Method Details
public virtual Matrix GetError(Z observation)
Creates an covariance matrix that describes the Gaussian error around the sensor mean.
The sensor error may be a function of the observation value.
For example, if the sensor reading has a signal to noise ratio the error will increase as the sensor reading increase.
Parameters:
observation - The observation for the error.
Returns:
A covariance matix that describes the error of the sensor reading.
public virtual Z GetMean(X state)
Creates the expected observation from a specific x.
Parameters:
x - The x at which the observation is made.
Returns:
The expected observation at a x.