text: // $Id: nonlinearanalyticconditionalgaussianmobile.cpp 5823 2005-10-27 13:43:02Z TDeLaet $
  // Copyright (C) 2006  Tinne De Laet <first dot last at mech dot kuleuven dot be>
  //
  // This program is free software; you can redistribute it and/or modify
  // it under the terms of the GNU Lesser General Public License as published by
  // the Free Software Foundation; either version 2.1 of the License, or
  // (at your option) any later version.
  //
  // This program is distributed in the hope that it will be useful,
  // but WITHOUT ANY WARRANTY; without even the implied warranty of
  // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  // GNU Lesser General Public License for more details.
  //
  // You should have received a copy of the GNU Lesser General Public License
  // along with this program; if not, write to the Free Software
  // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
  //
  
  #include "nonlinearSystemPdf.h"
  #include <bfl/wrappers/rng/rng.h> // Wrapper around several rng libraries
  
  #define SYSMODEL_NUMCONDARGUMENTS_MOBILE 2
  #define SYSMODEL_DIMENSION_MOBILE        3
  
  namespace BFL
  {
    using namespace MatrixWrapper;
  
    NonlinearSystemPdf::NonlinearSystemPdf(const Gaussian& additiveNoise)
      : ConditionalPdf<ColumnVector,ColumnVector>(SYSMODEL_DIMENSION_MOBILE,SYSMODEL_NUMCONDARGUMENTS_MOBILE)
    {
      _additiveNoise = additiveNoise;
    }
  
  
    NonlinearSystemPdf::~NonlinearSystemPdf(){}
  
  
    bool NonlinearSystemPdf::SampleFrom (Sample<ColumnVector>& one_sample, int method, void * args) const
    {
      ColumnVector state = ConditionalArgumentGet(0);
      ColumnVector vel   = ConditionalArgumentGet(1);
  
      // system update
      state(1) += cos(state(3)) * vel(1);
      state(2) += sin(state(3)) * vel(1);
      state(3) += vel(2);
  
      // sample from additive noise
      Sample<ColumnVector> noise;
      _additiveNoise.SampleFrom(noise, method, args);
  
      // store results in one_sample
      one_sample.ValueSet(state + noise.ValueGet());
  
      return true;
    }
  
  }//namespace BFL
  
  