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java.lang.Object | +--javaslam.filter.LinearGaussianFunction
A vector-valued function that takes a vector input, the bottom part
of which is a white noise vector. In particular, if
dim
is the result of calling Gaussian.getDimension()
on the Gaussian getNoiseModel()
,
then elements
through VectorFunction.getInputDim()
-
dim
of the input vector are the noise variables.
VectorFunction.getInputDim()
-
1
Field Summary | |
protected Matrix |
A
The linear coefficient. |
protected Gaussian |
q
The noise model. |
Constructor Summary | |
LinearGaussianFunction(Matrix A,
Gaussian q)
Constructor. |
Method Summary | |
double[] |
evaluate(double[] input)
Evaluates this function at the supplied input. |
int |
getInputDim()
Returns the input dimension of this function. |
Gaussian |
getNoiseModel()
Returns the Gaussian distribution over the noise input. |
int |
getOutputDim()
Returns the output dimension of this function. |
double[][] |
jacobian(double[] input)
Evaluates the Jacobian of this function at the supplied input. |
Methods inherited from class java.lang.Object |
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
Field Detail |
protected Matrix A
protected Gaussian q
Constructor Detail |
public LinearGaussianFunction(Matrix A, Gaussian q)
A
- the linear coefficientq
- a Gaussian noise model (in moment form) that has
as many dimensions as A has columnsMethod Detail |
public int getInputDim()
getInputDim
in interface VectorFunction
public int getOutputDim()
getOutputDim
in interface VectorFunction
public double[] evaluate(double[] input)
evaluate
in interface VectorFunction
input
- an array with getInputDim()
elements
getOutputDim()
elementspublic Gaussian getNoiseModel()
getNoiseModel
in interface NoisyVectorFunction
public double[][] jacobian(double[] input)
jacobian
in interface ExtendedVectorFunction
input
- a vector with getInputDim()
elements
getOutputDim()
rows and
getInputDim()
columns; if y = f(x)
then element (i, j) is the partial derivative
of yi with respect to
xj at input
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