Frames No Frames Cognitoware API v2009512
Cognitoware.Robotics.dll
Cognitoware.Robotics.StateEstimation

Class InformationFilter<X, U, Z>
X: The type of x.
U: The type of action.
Z: The type of x.

System.Object
Cognitoware.Robotics.StateEstimation.InformationFilter<X, U, Z>

Implemented Interfaces

Cognitoware.Robotics.StateEstimation.BayesFilter<X>

Summary

A type of Bayes filter that uses canonical Gaussians as the x estimate and linear sensor and action models.

Constructor Summary

InformationFilter()

Method Summary

BayesianInference(KalmanSensorModel<Z>, Z, GaussianCanonical)
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(KalmanActionModel<U>, U, GaussianCanonical)
Updates a belief with an action model and an action.
MemberwiseClone()
Inherited from System.Object
ToString()
Inherited from System.Object
UpdateBeliefWithAction(U)
Updates the x with the specified action.
UpdateBeliefWithObservation(Z)
Update the x with the specified x.

Details

A type of Bayes filter that uses canonical Gaussians as the x estimate and linear sensor and action models.

Constructor Details

public InformationFilter()

Method Details

public GaussianCanonical BayesianInference(KalmanSensorModel<Z> model, Z data, 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.
data - 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(KalmanActionModel<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)
Updates the x with the specified action.

Parameters:

action - The action used to update the x belief.

public final virtual void UpdateBeliefWithObservation(Z observation)
Update the x with the specified x.


Questions, Comments and Licensing
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