AdditiveStateModel.cpp

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/*
 * Copyright (C) 2016-2019 Istituto Italiano di Tecnologia (IIT)
 *
 * This software may be modified and distributed under the terms of the
 * BSD 3-Clause license. See the accompanying LICENSE file for details.
 */
 
#include <BayesFilters/AdditiveStateModel.h>
 
using namespace bfl;
using namespace Eigen;
 
 
void AdditiveStateModel::motion(const Ref<const MatrixXd>& cur_states, Ref<MatrixXd> mot_states)
{
    propagate(cur_states, mot_states);
 
    mot_states += getNoiseSample(mot_states.cols());
}
 
 
VectorDescription AdditiveStateModel::getInputDescription()
{
    VectorDescription input_description = getStateDescription();
    input_description.add_noise_components(getNoiseCovarianceMatrix().rows());
 
    return input_description;
}