Cognitoware.Robotics.dll

Interface SensorModel<Z, X>

A sensor model predicts an observation given a current x.

ConditionalProbabilityOf(Z, X)

Calculates the probablity of observing z at x x.

A sensor model predicts an observation given a current x.
A sensor model is also a conditional distribution of the observation given a x.
This distribution is represented by P(Z|X).
SensorModel implements this prediction by providing the probability of sensing a specific observation z given a specific x x.
For simplicity, the SensorModel is not given a relationship with RandomConditional.
However, classes derived from RandomConditional can be easily adapted into a SensorModel.

public virtual Double ConditionalProbabilityOf(Z observation, X state)

Calculates the probablity of observing z at x x.
For many purposes, the values returned do not need to sum to one as long as the values are proporionally correct.

`observation`

- The observation whose probability is desired.`x`

- The x used as a condition on the observation probability.The probability of observing a specific sensor reading at a specific x.