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3<title>mixpp: EKFfixed Class Reference</title>
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[145]27<h1>EKFfixed Class Reference</h1><!-- doxytag: class="EKFfixed" --><!-- doxytag: inherits="BM,BMcond" -->Extended <a class="el" href="classKalman.html" title="Kalman filter with covariance matrices in square root form.">Kalman</a> Filter with full matrices in fixed point arithmetic. 
[84]28<a href="#_details">More...</a>
29<p>
30<code>#include &lt;<a class="el" href="ekf__obj_8h-source.html">ekf_obj.h</a>&gt;</code>
31<p>
32<div class="dynheader">
33Inheritance diagram for EKFfixed:</div>
34<div class="dynsection">
35<p><center><img src="classEKFfixed__inherit__graph.png" border="0" usemap="#EKFfixed__inherit__map" alt="Inheritance graph"></center>
36<map name="EKFfixed__inherit__map">
[91]37<area shape="rect" href="classBM.html" title="Bayesian Model of the world, i.e. all uncertainty is modeled by probabilities." alt="" coords="5,7,45,31"><area shape="rect" href="classBMcond.html" title="Conditional Bayesian Filter." alt="" coords="69,7,139,31"></map>
[84]38<center><font size="2">[<a href="graph_legend.html">legend</a>]</font></center></div>
39<div class="dynheader">
40Collaboration diagram for EKFfixed:</div>
41<div class="dynsection">
42<p><center><img src="classEKFfixed__coll__graph.png" border="0" usemap="#EKFfixed__coll__map" alt="Collaboration graph"></center>
43<map name="EKFfixed__coll__map">
[91]44<area shape="rect" href="classBM.html" title="Bayesian Model of the world, i.e. all uncertainty is modeled by probabilities." alt="" coords="5,145,45,169"><area shape="rect" href="classRV.html" title="Class representing variables, most often random variables." alt="" coords="68,7,105,31"><area shape="rect" href="classBMcond.html" title="Conditional Bayesian Filter." alt="" coords="48,247,117,271"><area shape="rect" href="classepdf.html" title="Probability density function with numerical statistics, e.g. posterior density." alt="" coords="145,95,191,119"><area shape="rect" href="classenorm.html" title="enorm\&lt; fsqmat \&gt;" alt="" coords="156,385,276,409"><area shape="rect" href="classeEF.html" title="General conjugate exponential family posterior density." alt="" coords="200,196,245,220"><area shape="rect" href="classenorm.html" title="Gaussian density with positive definite (decomposed) covariance matrix." alt="" coords="113,297,223,321"><area shape="rect" href="classfsqmat.html" title="Fake sqmat. This class maps sqmat operations to operations on full matrix." alt="" coords="297,297,359,321"><area shape="rect" href="classsqmat.html" title="Virtual class for representation of double symmetric matrices in square&#45;root form..." alt="" coords="300,196,356,220"></map>
[84]45<center><font size="2">[<a href="graph_legend.html">legend</a>]</font></center></div>
46
47<p>
48<a href="classEKFfixed-members.html">List of all members.</a><table border="0" cellpadding="0" cellspacing="0">
49<tr><td></td></tr>
50<tr><td colspan="2"><br><h2>Public Member Functions</h2></td></tr>
51<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="cece920bbf58fc72b25a6417b3ef0259"></a><!-- doxytag: member="EKFfixed::init_ekf" ref="cece920bbf58fc72b25a6417b3ef0259" args="(double Tv)" -->
52void&nbsp;</td><td class="memItemRight" valign="bottom"><b>init_ekf</b> (double Tv)</td></tr>
53
54<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="491e636b259dda3b876b7bd492df6b7c"></a><!-- doxytag: member="EKFfixed::ekf" ref="491e636b259dda3b876b7bd492df6b7c" args="(double ux, double uy, double isxd, double isyd)" -->
55void&nbsp;</td><td class="memItemRight" valign="bottom"><b>ekf</b> (double ux, double uy, double isxd, double isyd)</td></tr>
56
57<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="e77b35e1a11356dbfb1fdfa3017f60d3"></a><!-- doxytag: member="EKFfixed::prediction" ref="e77b35e1a11356dbfb1fdfa3017f60d3" args="(int *ux)" -->
58void&nbsp;</td><td class="memItemRight" valign="bottom"><b>prediction</b> (int *ux)</td></tr>
59
60<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="83ed56b86a056d7dbdd6ce44145fa5f3"></a><!-- doxytag: member="EKFfixed::correction" ref="83ed56b86a056d7dbdd6ce44145fa5f3" args="(void)" -->
61void&nbsp;</td><td class="memItemRight" valign="bottom"><b>correction</b> (void)</td></tr>
62
63<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="dce43355681cfe8f1905db207b4dde8d"></a><!-- doxytag: member="EKFfixed::update_psi" ref="dce43355681cfe8f1905db207b4dde8d" args="(void)" -->
64void&nbsp;</td><td class="memItemRight" valign="bottom"><b>update_psi</b> (void)</td></tr>
65
66<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="64d7b1a39c27b1846bcd5628928748ef"></a><!-- doxytag: member="EKFfixed::EKFfixed" ref="64d7b1a39c27b1846bcd5628928748ef" args="(RV rvx, RV rvc)" -->
67&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classEKFfixed.html#64d7b1a39c27b1846bcd5628928748ef">EKFfixed</a> (<a class="el" href="classRV.html">RV</a> rvx, <a class="el" href="classRV.html">RV</a> <a class="el" href="classBMcond.html#9ba793c8ec453f04d372d17195ed8dec">rvc</a>)</td></tr>
68
69<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Default constructor. <br></td></tr>
70<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="ddf5334bc1207658fd53698fffbac028"></a><!-- doxytag: member="EKFfixed::bayes" ref="ddf5334bc1207658fd53698fffbac028" args="(const vec &amp;dt)" -->
71void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classEKFfixed.html#ddf5334bc1207658fd53698fffbac028">bayes</a> (const vec &amp;dt)</td></tr>
72
73<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Here dt = [yt;ut] of appropriate dimensions. <br></td></tr>
74<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="085cf16c573eda32d8d03619c6c4b518"></a><!-- doxytag: member="EKFfixed::_epdf" ref="085cf16c573eda32d8d03619c6c4b518" args="()" -->
75<a class="el" href="classepdf.html">epdf</a> &amp;&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classEKFfixed.html#085cf16c573eda32d8d03619c6c4b518">_epdf</a> ()</td></tr>
76
77<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">dummy! <br></td></tr>
78<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="c7fee79e75ad7f0c0e96c5a322cbf44e"></a><!-- doxytag: member="EKFfixed::condition" ref="c7fee79e75ad7f0c0e96c5a322cbf44e" args="(const vec &amp;Q0)" -->
79void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classEKFfixed.html#c7fee79e75ad7f0c0e96c5a322cbf44e">condition</a> (const vec &amp;Q0)</td></tr>
80
81<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Substitute <code>val</code> for <code>rvc</code>. <br></td></tr>
[171]82<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="0186270f75189677f390fe088a9947e9"></a><!-- doxytag: member="EKFfixed::bayesB" ref="0186270f75189677f390fe088a9947e9" args="(const mat &amp;Dt)" -->
83virtual void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classBM.html#0186270f75189677f390fe088a9947e9">bayesB</a> (const mat &amp;Dt)</td></tr>
[84]84
85<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Batch Bayes rule (columns of Dt are observations). <br></td></tr>
[171]86<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="8554809fec160bee279bcd5fa14ead5c"></a><!-- doxytag: member="EKFfixed::_epdf" ref="8554809fec160bee279bcd5fa14ead5c" args="() const =0" -->
87virtual const <a class="el" href="classepdf.html">epdf</a> &amp;&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classBM.html#8554809fec160bee279bcd5fa14ead5c">_epdf</a> () const =0</td></tr>
88
[210]89<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Returns a reference to the <a class="el" href="classepdf.html" title="Probability density function with numerical statistics, e.g. posterior density.">epdf</a> representing posterior density on parameters. <br></td></tr>
90<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="db500c4836f883c175a3cf3ab5a3ce24"></a><!-- doxytag: member="EKFfixed::_e" ref="db500c4836f883c175a3cf3ab5a3ce24" args="() const =0" -->
91virtual const <a class="el" href="classepdf.html">epdf</a> *&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classBM.html#db500c4836f883c175a3cf3ab5a3ce24">_e</a> () const =0</td></tr>
92
[171]93<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Returns a pointer to the <a class="el" href="classepdf.html" title="Probability density function with numerical statistics, e.g. posterior density.">epdf</a> representing posterior density on parameters. Use with care! <br></td></tr>
94<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual double&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classBM.html#8a8ce6df431689964c41cc6c849cfd06">logpred</a> (const vec &amp;dt) const </td></tr>
95
[180]96<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="cd0660f2a1a344b56ac39802708ff165"></a><!-- doxytag: member="EKFfixed::logpred_m" ref="cd0660f2a1a344b56ac39802708ff165" args="(const mat &amp;dt) const " -->
97vec&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classBM.html#cd0660f2a1a344b56ac39802708ff165">logpred_m</a> (const mat &amp;dt) const </td></tr>
98
99<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Matrix version of logpred. <br></td></tr>
[210]100<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="5594d68ee9aa6fc8c1e79019da5c9d56"></a><!-- doxytag: member="EKFfixed::predictor" ref="5594d68ee9aa6fc8c1e79019da5c9d56" args="(const RV &amp;rv) const " -->
101virtual <a class="el" href="classepdf.html">epdf</a> *&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classBM.html#5594d68ee9aa6fc8c1e79019da5c9d56">predictor</a> (const <a class="el" href="classRV.html">RV</a> &amp;<a class="el" href="classBM.html#af00f0612fabe66241dd507188cdbf88">rv</a>) const </td></tr>
[180]102
103<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Constructs a predictive density (marginal density on data). <br></td></tr>
[84]104<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="126bd2595c48e311fc2a7ab72876092a"></a><!-- doxytag: member="EKFfixed::_rv" ref="126bd2595c48e311fc2a7ab72876092a" args="() const " -->
105const <a class="el" href="classRV.html">RV</a> &amp;&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classBM.html#126bd2595c48e311fc2a7ab72876092a">_rv</a> () const </td></tr>
106
107<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">access function <br></td></tr>
108<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="87f4a547d2c29180be88175e5eab9c88"></a><!-- doxytag: member="EKFfixed::_ll" ref="87f4a547d2c29180be88175e5eab9c88" args="() const " -->
109double&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classBM.html#87f4a547d2c29180be88175e5eab9c88">_ll</a> () const </td></tr>
110
111<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">access function <br></td></tr>
[171]112<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="1ffa9f23669aabecc3760c06c6987522"></a><!-- doxytag: member="EKFfixed::set_evalll" ref="1ffa9f23669aabecc3760c06c6987522" args="(bool evl0)" -->
113void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classBM.html#1ffa9f23669aabecc3760c06c6987522">set_evalll</a> (bool evl0)</td></tr>
114
115<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">access function <br></td></tr>
116<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual <a class="el" href="classBM.html">BM</a> *&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classBM.html#eb58c81d6a7b75b05fc6f276eed78887">_copy_</a> (bool changerv=false)</td></tr>
117
[84]118<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="3fa60348b2da6b4208bb95b8d146900a"></a><!-- doxytag: member="EKFfixed::_rvc" ref="3fa60348b2da6b4208bb95b8d146900a" args="() const " -->
119const <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>
120
121<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">access function <br></td></tr>
122<tr><td colspan="2"><br><h2>Public Attributes</h2></td></tr>
123<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="d04ddf049475a15e1ba93161aa5586ab"></a><!-- doxytag: member="EKFfixed::Q" ref="d04ddf049475a15e1ba93161aa5586ab" args="[16]" -->
124int&nbsp;</td><td class="memItemRight" valign="bottom"><b>Q</b> [16]</td></tr>
125
126<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="d914213d413b4d8f8d7bb728c5063d5e"></a><!-- doxytag: member="EKFfixed::R" ref="d914213d413b4d8f8d7bb728c5063d5e" args="[4]" -->
127int&nbsp;</td><td class="memItemRight" valign="bottom"><b>R</b> [4]</td></tr>
128
129<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="7fd20a80b00e9782da676e48eb5b54b3"></a><!-- doxytag: member="EKFfixed::x_est" ref="7fd20a80b00e9782da676e48eb5b54b3" args="[4]" -->
130int&nbsp;</td><td class="memItemRight" valign="bottom"><b>x_est</b> [4]</td></tr>
131
132<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="9518fa723d7324f75df7822a589ee196"></a><!-- doxytag: member="EKFfixed::x_pred" ref="9518fa723d7324f75df7822a589ee196" args="[4]" -->
133int&nbsp;</td><td class="memItemRight" valign="bottom"><b>x_pred</b> [4]</td></tr>
134
135<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="0b731c546a474433c1ea6f36f0125774"></a><!-- doxytag: member="EKFfixed::P_pred" ref="0b731c546a474433c1ea6f36f0125774" args="[16]" -->
136int&nbsp;</td><td class="memItemRight" valign="bottom"><b>P_pred</b> [16]</td></tr>
137
138<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="b9ec9cb2d092ca3f4ad2a3b4420867ac"></a><!-- doxytag: member="EKFfixed::P_est" ref="b9ec9cb2d092ca3f4ad2a3b4420867ac" args="[16]" -->
139int&nbsp;</td><td class="memItemRight" valign="bottom"><b>P_est</b> [16]</td></tr>
140
141<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="5a8040cdb8bb5dca753485dc67db3287"></a><!-- doxytag: member="EKFfixed::Y_mes" ref="5a8040cdb8bb5dca753485dc67db3287" args="[2]" -->
142int&nbsp;</td><td class="memItemRight" valign="bottom"><b>Y_mes</b> [2]</td></tr>
143
144<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="9292e43fb8e6fedfabb3a9b3c2118e33"></a><!-- doxytag: member="EKFfixed::ukalm" ref="9292e43fb8e6fedfabb3a9b3c2118e33" args="[2]" -->
145int&nbsp;</td><td class="memItemRight" valign="bottom"><b>ukalm</b> [2]</td></tr>
146
147<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="f754902bb769d3b58b89108c76d9a394"></a><!-- doxytag: member="EKFfixed::Kalm" ref="f754902bb769d3b58b89108c76d9a394" args="[8]" -->
148int&nbsp;</td><td class="memItemRight" valign="bottom"><b>Kalm</b> [8]</td></tr>
149
150<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="bf4b3d55c8d277673bf77f37f6590217"></a><!-- doxytag: member="EKFfixed::PSI" ref="bf4b3d55c8d277673bf77f37f6590217" args="[16]" -->
151int&nbsp;</td><td class="memItemRight" valign="bottom"><b>PSI</b> [16]</td></tr>
152
153<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="8a677b253b54696701c1ca0cb6f7a622"></a><!-- doxytag: member="EKFfixed::temp15a" ref="8a677b253b54696701c1ca0cb6f7a622" args="[16]" -->
154int&nbsp;</td><td class="memItemRight" valign="bottom"><b>temp15a</b> [16]</td></tr>
155
156<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="6d4354dad09286a7a209983732853c5b"></a><!-- doxytag: member="EKFfixed::cA" ref="6d4354dad09286a7a209983732853c5b" args="" -->
157int&nbsp;</td><td class="memItemRight" valign="bottom"><b>cA</b></td></tr>
158
159<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="eac752adfb921c1c525f8c3b3fd15dad"></a><!-- doxytag: member="EKFfixed::cB" ref="eac752adfb921c1c525f8c3b3fd15dad" args="" -->
160int&nbsp;</td><td class="memItemRight" valign="bottom"><b>cB</b></td></tr>
161
162<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="2f35ef3dce13131ae9b4427309a1d005"></a><!-- doxytag: member="EKFfixed::cC" ref="2f35ef3dce13131ae9b4427309a1d005" args="" -->
163int&nbsp;</td><td class="memItemRight" valign="bottom"><b>cC</b></td></tr>
164
165<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="50b31e70bb17cbdde2e28c83b9612c47"></a><!-- doxytag: member="EKFfixed::cG" ref="50b31e70bb17cbdde2e28c83b9612c47" args="" -->
166int&nbsp;</td><td class="memItemRight" valign="bottom"><b>cG</b></td></tr>
167
168<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="086e18ad28d139b0a2c0f77badc77a9a"></a><!-- doxytag: member="EKFfixed::cH" ref="086e18ad28d139b0a2c0f77badc77a9a" args="" -->
169int&nbsp;</td><td class="memItemRight" valign="bottom"><b>cH</b></td></tr>
170
171<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="540046e3ab4d0bed4791f397062a626f"></a><!-- doxytag: member="EKFfixed::temp30a" ref="540046e3ab4d0bed4791f397062a626f" args="[4]" -->
172long&nbsp;</td><td class="memItemRight" valign="bottom"><b>temp30a</b> [4]</td></tr>
173
174<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="ea92b06e2b66c6771828e689bb727b76"></a><!-- doxytag: member="EKFfixed::E" ref="ea92b06e2b66c6771828e689bb727b76" args="" -->
175<a class="el" href="classenorm.html">enorm</a>&lt; <a class="el" href="classfsqmat.html">fsqmat</a> &gt;&nbsp;</td><td class="memItemRight" valign="bottom"><b>E</b></td></tr>
176
177<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="6e5552506214757d24e59e508f91c8aa"></a><!-- doxytag: member="EKFfixed::Ry" ref="6e5552506214757d24e59e508f91c8aa" args="" -->
178mat&nbsp;</td><td class="memItemRight" valign="bottom"><b>Ry</b></td></tr>
179
180<tr><td colspan="2"><br><h2>Protected Attributes</h2></td></tr>
181<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="af00f0612fabe66241dd507188cdbf88"></a><!-- doxytag: member="EKFfixed::rv" ref="af00f0612fabe66241dd507188cdbf88" args="" -->
182<a class="el" href="classRV.html">RV</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classBM.html#af00f0612fabe66241dd507188cdbf88">rv</a></td></tr>
183
184<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Random variable of the posterior. <br></td></tr>
185<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="5623fef6572a08c2b53b8c87b82dc979"></a><!-- doxytag: member="EKFfixed::ll" ref="5623fef6572a08c2b53b8c87b82dc979" args="" -->
186double&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classBM.html#5623fef6572a08c2b53b8c87b82dc979">ll</a></td></tr>
187
188<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Logarithm of marginalized data likelihood. <br></td></tr>
189<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="bf6fb59b30141074f8ee1e2f43d03129"></a><!-- doxytag: member="EKFfixed::evalll" ref="bf6fb59b30141074f8ee1e2f43d03129" args="" -->
190bool&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classBM.html#bf6fb59b30141074f8ee1e2f43d03129">evalll</a></td></tr>
191
[171]192<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">If true, the filter will compute likelihood of the data record and store it in <code>ll</code> . Set to false if you want to save computational time. <br></td></tr>
[84]193<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="9ba793c8ec453f04d372d17195ed8dec"></a><!-- doxytag: member="EKFfixed::rvc" ref="9ba793c8ec453f04d372d17195ed8dec" args="" -->
194<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>
195
196<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Identificator of the conditioning variable. <br></td></tr>
197</table>
198<hr><a name="_details"></a><h2>Detailed Description</h2>
[145]199Extended <a class="el" href="classKalman.html" title="Kalman filter with covariance matrices in square root form.">Kalman</a> Filter with full matrices in fixed point arithmetic.
[84]200<p>
[171]201An approximation of the exact Bayesian filter with Gaussian noices and non-linear evolutions of their mean. <hr><h2>Member Function Documentation</h2>
202<a class="anchor" name="8a8ce6df431689964c41cc6c849cfd06"></a><!-- doxytag: member="EKFfixed::logpred" ref="8a8ce6df431689964c41cc6c849cfd06" args="(const vec &amp;dt) const " -->
203<div class="memitem">
204<div class="memproto">
205      <table class="memname">
206        <tr>
207          <td class="memname">virtual double BM::logpred           </td>
208          <td>(</td>
209          <td class="paramtype">const vec &amp;&nbsp;</td>
210          <td class="paramname"> <em>dt</em>          </td>
211          <td>&nbsp;)&nbsp;</td>
212          <td> const<code> [inline, virtual, inherited]</code></td>
213        </tr>
214      </table>
215</div>
216<div class="memdoc">
217
218<p>
219Evaluates predictive log-likelihood of the given data record I.e. marginal likelihood of the data with the posterior integrated out.
220<p>Reimplemented in <a class="el" href="classARX.html#e7f9e7823aec9bf7ddc3b42d9b3304c4">ARX</a>, <a class="el" href="classMixEF.html#424ca64f36d4e41de7a7e7ae921d35ea">MixEF</a>, and <a class="el" href="classmultiBM.html#13e26a61757278981fd8cac9a7ef91eb">multiBM</a>.</p>
221
[234]222<p>Referenced by <a class="el" href="libBM_8h-source.html#l00442">BM::logpred_m()</a>.</p>
[180]223
[171]224</div>
225</div><p>
226<a class="anchor" name="eb58c81d6a7b75b05fc6f276eed78887"></a><!-- doxytag: member="EKFfixed::_copy_" ref="eb58c81d6a7b75b05fc6f276eed78887" args="(bool changerv=false)" -->
227<div class="memitem">
228<div class="memproto">
229      <table class="memname">
230        <tr>
231          <td class="memname">virtual <a class="el" href="classBM.html">BM</a>* BM::_copy_           </td>
232          <td>(</td>
233          <td class="paramtype">bool&nbsp;</td>
234          <td class="paramname"> <em>changerv</em> = <code>false</code>          </td>
235          <td>&nbsp;)&nbsp;</td>
236          <td><code> [inline, virtual, inherited]</code></td>
237        </tr>
238      </table>
239</div>
240<div class="memdoc">
241
242<p>
243Copy function required in vectors, Arrays of <a class="el" href="classBM.html" title="Bayesian Model of the world, i.e. all uncertainty is modeled by probabilities.">BM</a> etc. Have to be DELETED manually! Prototype: BM* <a class="el" href="classBM.html#eb58c81d6a7b75b05fc6f276eed78887">_copy_()</a>{<a class="el" href="classBM.html" title="Bayesian Model of the world, i.e. all uncertainty is modeled by probabilities.">BM</a> Tmp*=new Tmp(this*); return Tmp; }
[210]244<p>Reimplemented in <a class="el" href="classARX.html#5de61fbd4f97fa3216760b1f733f5af0">ARX</a>, and <a class="el" href="classBMEF.html#97f5312efe4a5bedb86d2daec59d8651">BMEF</a>.</p>
[171]245
246</div>
247</div><p>
248<hr>The documentation for this class was generated from the following files:<ul>
[145]249<li>work/git/mixpp/pmsm/simulator_zdenek/ekf_example/<a class="el" href="ekf__obj_8h-source.html">ekf_obj.h</a><li>work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf_obj.cpp</ul>
[91]250</div>
[234]251<hr size="1"><address style="text-align: right;"><small>Generated on Thu Jan 15 10:51:07 2009 for mixpp by&nbsp;
[84]252<a href="http://www.doxygen.org/index.html">
[139]253<img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.6 </small></address>
[84]254</body>
255</html>
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