renaming types: ObsrvModel -> Sensor, ObservationModel -> Sensor, Obs…

…ervationFunction -> SensorFunction etc.

                ProcessModel -> Transition, TransitionModel -> Transition etc.

include/fl/filter/gaussian/X_robust_multi_sensor_gaussian_filter.hpp

@@ -36,8 +36,8 @@
 namespace fl
 {
 // Forward delcaration
-template <typename StateTransitionFunction,
-          typename JointObsrvModel,
+template <typename TransitionFunction,
+          typename ActualJointSensor,
           typename Quadrature>
 class RobustMultiSensorGaussianFilter;
 
@@ -49,35 +49,35 @@ class RobustMultiSensorGaussianFilter;
  * with customizable policies, i.e implementations of the time and measurement
  * updates.
  */
-template <typename StateTransitionFunction,
-          typename JointObsrvModel,
+template <typename TransitionFunction,
+          typename ActualJointSensor,
           typename Quadrature>
-struct Traits<RobustMultiSensorGaussianFilter<StateTransitionFunction,
-                                              JointObsrvModel,
+struct Traits<RobustMultiSensorGaussianFilter<TransitionFunction,
+                                              ActualJointSensor,
                                               Quadrature>>
 {
-    typedef typename StateTransitionFunction::State State;
-    typedef typename StateTransitionFunction::Input Input;
-    typedef typename JointObsrvModel::Obsrv Obsrv;
+    typedef typename TransitionFunction::State State;
+    typedef typename TransitionFunction::Input Input;
+    typedef typename ActualJointSensor::Obsrv Obsrv;
     typedef Gaussian<State> Belief;
 };
 
 /**
  * \ingroup nonlinear_gaussian_filter
  */
-template <typename StateTransitionFunction,
-          typename JointObsrvModel,
+template <typename TransitionFunction,
+          typename ActualJointSensor,
           typename Quadrature>
 class RobustMultiSensorGaussianFilter
     : public FilterInterface<
-          RobustMultiSensorGaussianFilter<StateTransitionFunction,
-                                          JointObsrvModel,
+          RobustMultiSensorGaussianFilter<TransitionFunction,
+                                          ActualJointSensor,
                                           Quadrature>>
 {
 public:
-    typedef typename StateTransitionFunction::State State;
-    typedef typename StateTransitionFunction::Input Input;
-    typedef typename JointObsrvModel::Obsrv Obsrv;
+    typedef typename TransitionFunction::State State;
+    typedef typename TransitionFunction::Input Input;
+    typedef typename ActualJointSensor::Obsrv Obsrv;
     typedef Gaussian<State> Belief;
 
 private:
@@ -86,23 +86,23 @@ class RobustMultiSensorGaussianFilter
     // Get the original local model types
     enum : signed int
     {
-        ModelCount = JointObsrvModel::ModelCount
+        ModelCount = ActualJointSensor::ModelCount
     };
-    typedef typename JointObsrvModel::LocalModel BodyTailModel;
+    typedef typename ActualJointSensor::LocalModel BodyTailModel;
 
     // Define local feature observation model
-    typedef RobustMultiSensorFeatureObsrvModel<BodyTailModel, ModelCount>
-        FeatureObsrvModel;
+    typedef MultiRobustSensorFunction<BodyTailModel, ModelCount>
+        FeatureSensor;
 
     // Define robust joint feature observation model
-    typedef JointObservationModel<MultipleOf<FeatureObsrvModel, ModelCount>>
-        RobustJointFeatureObsrvModel;
+    typedef JointSensor<MultipleOf<FeatureSensor, ModelCount>>
+        RobustJointFeatureSensor;
     /**
      * \brief Internal generic multi-sensor GaussianFilter for nonlinear
      *        problems
      */
-    typedef MultiSensorGaussianFilter<StateTransitionFunction,
-                                      RobustJointFeatureObsrvModel,
+    typedef MultiSensorGaussianFilter<TransitionFunction,
+                                      RobustJointFeatureSensor,
                                       Quadrature>
         InternalMultiSensorGaussianFilter;
 
@@ -113,14 +113,14 @@ class RobustMultiSensorGaussianFilter
      * \brief Creates a RobustGaussianFilter
      */
     RobustMultiSensorGaussianFilter(
-        const StateTransitionFunction& process_model,
-        const JointObsrvModel& joint_obsrv_model,
+        const TransitionFunction& process_model,
+        const ActualJointSensor& joint_obsrv_model,
         const Quadrature& quadrature)
         : joint_obsrv_model_(joint_obsrv_model),
           multi_sensor_gaussian_filter_(
               process_model,
-              RobustJointFeatureObsrvModel(
-                  FeatureObsrvModel(joint_obsrv_model_.local_obsrv_model(),
+              RobustJointFeatureSensor(
+                  FeatureSensor(joint_obsrv_model_.local_obsrv_model(),
                                     joint_obsrv_model_.count_local_models()),
                   joint_obsrv_model_.count_local_models()),
               quadrature)
@@ -154,8 +154,8 @@ class RobustMultiSensorGaussianFilter
         auto& body_tail_model = feature_model.embedded_obsrv_model();
 
         typedef typename BodyTailModel::Obsrv LocalObsrv;
-        typedef typename FeatureObsrvModel::Obsrv LocalFeature;
-        typedef typename BodyTailModel::BodyObsrvModel::Noise LocalObsrvNoise;
+        typedef typename FeatureSensor::Obsrv LocalFeature;
+        typedef typename BodyTailModel::BodySensor::Noise LocalObsrvNoise;
 
         /* ------------------------------------------ */
         /* - Determine the number of quadrature     - */
@@ -316,18 +316,18 @@ class RobustMultiSensorGaussianFilter
     }
 
 public: /* accessors & mutators */
-    StateTransitionFunction& process_model()
+    TransitionFunction& process_model()
     {
         return multi_sensor_gaussian_filter_.process_model();
     }
 
-    JointObsrvModel& obsrv_model() { return joint_obsrv_model_; }
-    const StateTransitionFunction& process_model() const
+    ActualJointSensor& obsrv_model() { return joint_obsrv_model_; }
+    const TransitionFunction& process_model() const
     {
         return multi_sensor_gaussian_filter_.process_model();
     }
 
-    const JointObsrvModel& obsrv_model() const { return joint_obsrv_model_; }
+    const ActualJointSensor& obsrv_model() const { return joint_obsrv_model_; }
     std::string name() const override
     {
         return "RobustMultiSensorGaussianFilter<" +
@@ -342,14 +342,14 @@ class RobustMultiSensorGaussianFilter
     }
 
 protected:
-    RobustJointFeatureObsrvModel& joint_feature_model()
+    RobustJointFeatureSensor& joint_feature_model()
     {
         return multi_sensor_gaussian_filter_.obsrv_model();
     }
 
 protected:
     /** \cond internal */
-    JointObsrvModel joint_obsrv_model_;
+    ActualJointSensor joint_obsrv_model_;
     InternalMultiSensorGaussianFilter multi_sensor_gaussian_filter_;
     /** \endcond */
 };

include/fl/filter/gaussian/gaussian_filter_linear.hpp

@@ -50,15 +50,15 @@ template <typename...> class GaussianFilter;
  *
  * Traits of the Linear GaussianFilter (KalmanFilter)
  */
-template <typename LinearStateTransitionModel, typename LinearObservationModel>
+template <typename LinearTransition, typename LinearSensor>
 struct Traits<
            GaussianFilter<
-               LinearStateTransitionModel,
-               LinearObservationModel>>
+               LinearTransition,
+               LinearSensor>>
 {
-    typedef typename LinearStateTransitionModel::State State;
-    typedef typename LinearStateTransitionModel::Input Input;
-    typedef typename LinearObservationModel::Obsrv Obsrv;
+    typedef typename LinearTransition::State State;
+    typedef typename LinearTransition::Input Input;
+    typedef typename LinearSensor::Obsrv Obsrv;
     typedef Gaussian<State> Belief;
 };
 
@@ -76,24 +76,24 @@ struct Traits<
  *
  */
 template <
-    typename LinearStateTransitionModel,
-    typename LinearObservationModel
+    typename LinearTransition,
+    typename LinearSensor
 >
 class GaussianFilter<
-          LinearStateTransitionModel,
-          LinearObservationModel>
+          LinearTransition,
+          LinearSensor>
     :
     /* Implement the conceptual filter interface */
     public
     FilterInterface<
         GaussianFilter<
-            typename ForwardLinearModelOnly<LinearStateTransitionModel>::Type,
-            typename ForwardLinearModelOnly<LinearObservationModel>::Type>>
+            typename ForwardLinearModelOnly<LinearTransition>::Type,
+            typename ForwardLinearModelOnly<LinearSensor>::Type>>
 {
 public:
-    typedef typename LinearStateTransitionModel::State State;
-    typedef typename LinearStateTransitionModel::Input Input;
-    typedef typename LinearObservationModel::Obsrv Obsrv;
+    typedef typename LinearTransition::State State;
+    typedef typename LinearTransition::Input Input;
+    typedef typename LinearSensor::Obsrv Obsrv;
 
     /**
      * \brief Represents the underlying distribution of the estimated state.
@@ -109,8 +109,8 @@ class GaussianFilter<
      * \param process_model         Process model instance
      * \param obsrv_model           Obsrv model instance
      */
-    GaussianFilter(const LinearStateTransitionModel& process_model,
-                   const LinearObservationModel& obsrv_model)
+    GaussianFilter(const LinearTransition& process_model,
+                   const LinearSensor& obsrv_model)
         : process_model_(process_model),
           obsrv_model_(obsrv_model)
     { }
@@ -215,30 +215,30 @@ class GaussianFilter<
                             obsrv_model().description());
     }
 
-    LinearStateTransitionModel& process_model()
+    LinearTransition& process_model()
     {
         return process_model_;
     }
 
-    LinearObservationModel& obsrv_model()
+    LinearSensor& obsrv_model()
     {
         return obsrv_model_;
     }
 
-    const LinearStateTransitionModel& process_model() const
+    const LinearTransition& process_model() const
     {
         return process_model_;
     }
 
-    const LinearObservationModel& obsrv_model() const
+    const LinearSensor& obsrv_model() const
     {
         return obsrv_model_;
     }
 
 protected:
     /** \cond internal */
-    LinearStateTransitionModel process_model_;
-    LinearObservationModel obsrv_model_;
+    LinearTransition process_model_;
+    LinearSensor obsrv_model_;
     /** \endcond */
 };