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Matrix in Cholesky decomposition, Square-root Kalman and many bug fixes

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23<h1>BMcond Class Reference</h1><!-- doxytag: class="BMcond" -->Conditional Bayesian Filter. 
24<a href="#_details">More...</a>
25<p>
26<code>#include &lt;<a class="el" href="libBM_8h-source.html">libBM.h</a>&gt;</code>
27<p>
28<div class="dynheader">
29Inheritance diagram for BMcond:</div>
30<div class="dynsection">
31<p><center><img src="classBMcond__inherit__graph.png" border="0" usemap="#BMcond__inherit__map" alt="Inheritance graph"></center>
32<map name="BMcond__inherit__map">
33<area shape="rect" href="classEKF__unQ.html" title="Extended Kalman filter with unknown Q." alt="" coords="5,84,85,111"><area shape="rect" href="classKFcondQR.html" title="Kalman Filter with conditional diagonal matrices R and Q." alt="" coords="109,84,197,111"><area shape="rect" href="classKFcondR.html" title="Kalman Filter with conditional diagonal matrices R and Q." alt="" coords="221,84,299,111"></map>
34<center><font size="2">[<a href="graph_legend.html">legend</a>]</font></center></div>
35<div class="dynheader">
36Collaboration diagram for BMcond:</div>
37<div class="dynsection">
38<p><center><img src="classBMcond__coll__graph.png" border="0" usemap="#BMcond__coll__map" alt="Collaboration graph"></center>
39<map name="BMcond__coll__map">
40<area shape="rect" href="classRV.html" title="Class representing variables, most often random variables." alt="" coords="23,7,60,33"><area shape="rect" title="rvc" alt="" coords="37,31,45,39"><area shape="rect" title="rvc" alt="" coords="37,99,45,107"></map>
41<center><font size="2">[<a href="graph_legend.html">legend</a>]</font></center></div>
42
43<p>
44<a href="classBMcond-members.html">List of all members.</a><table border="0" cellpadding="0" cellspacing="0">
45<tr><td></td></tr>
46<tr><td colspan="2"><br><h2>Public Member Functions</h2></td></tr>
47<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="3543cfe274c35f9033c24d8036a96c4d"></a><!-- doxytag: member="BMcond::condition" ref="3543cfe274c35f9033c24d8036a96c4d" args="(const vec &amp;val)=0" -->
48virtual void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classBMcond.html#3543cfe274c35f9033c24d8036a96c4d">condition</a> (const vec &amp;val)=0</td></tr>
49
50<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Substitute <code>val</code> for <code>rvc</code>. <br></td></tr>
51<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="9a38dcdabef902fd91da3c9fb6ac27f7"></a><!-- doxytag: member="BMcond::BMcond" ref="9a38dcdabef902fd91da3c9fb6ac27f7" args="(RV &amp;rv0)" -->
52&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classBMcond.html#9a38dcdabef902fd91da3c9fb6ac27f7">BMcond</a> (<a class="el" href="classRV.html">RV</a> &amp;rv0)</td></tr>
53
54<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Default constructor. <br></td></tr>
55<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="d40c72250cf93640f982d06de20815b2"></a><!-- doxytag: member="BMcond::~BMcond" ref="d40c72250cf93640f982d06de20815b2" args="()" -->
56virtual&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classBMcond.html#d40c72250cf93640f982d06de20815b2">~BMcond</a> ()</td></tr>
57
58<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Destructor for future use. <br></td></tr>
59<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="3fa60348b2da6b4208bb95b8d146900a"></a><!-- doxytag: member="BMcond::_rvc" ref="3fa60348b2da6b4208bb95b8d146900a" args="() const " -->
60const <a class="el" href="classRV.html">RV</a> &amp;&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classBMcond.html#3fa60348b2da6b4208bb95b8d146900a">_rvc</a> () const </td></tr>
61
62<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">access function <br></td></tr>
63<tr><td colspan="2"><br><h2>Protected Attributes</h2></td></tr>
64<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="9ba793c8ec453f04d372d17195ed8dec"></a><!-- doxytag: member="BMcond::rvc" ref="9ba793c8ec453f04d372d17195ed8dec" args="" -->
65<a class="el" href="classRV.html">RV</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classBMcond.html#9ba793c8ec453f04d372d17195ed8dec">rvc</a></td></tr>
66
67<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Identificator of the conditioning variable. <br></td></tr>
68</table>
69<hr><a name="_details"></a><h2>Detailed Description</h2>
70Conditional Bayesian Filter.
71<p>
72Evaluates conditional filtering density $f(rv|rvc,data)$ for a given <code>rvc</code> which is specified in each step by calling function <code>condition</code>.<p>
73This is an interface class used to assure that certain <a class="el" href="classBM.html" title="Bayesian Model of the world, i.e. all uncertainty is modeled by probabilities.">BM</a> has operation <code>condition</code> . <hr>The documentation for this class was generated from the following file:<ul>
74<li>work/mixpp/bdm/stat/<a class="el" href="libBM_8h-source.html">libBM.h</a></ul>
75<hr size="1"><address style="text-align: right;"><small>Generated on Wed Mar 12 16:15:49 2008 for mixpp by&nbsp;
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