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[280]69<h1>EKFfixed Class Reference</h1><!-- doxytag: class="EKFfixed" --><!-- doxytag: inherits="bdm::BM,bdm::BMcond" --><code>#include &lt;<a class="el" href="ekf__obj_8h-source.html">ekf_obj.h</a>&gt;</code>
[84]70<p>
71<div class="dynheader">
72Inheritance diagram for EKFfixed:</div>
73<div class="dynsection">
74
[280]75<p><center><img src="classEKFfixed.png" usemap="#EKFfixed_map" border="0" alt=""></center>
76<map name="EKFfixed_map">
77<area href="classbdm_1_1BM.html" alt="bdm::BM" shape="rect" coords="0,56,88,80">
78<area href="classbdm_1_1BMcond.html" alt="bdm::BMcond" shape="rect" coords="98,56,186,80">
79<area href="classbdm_1_1bdmroot.html" alt="bdm::bdmroot" shape="rect" coords="0,0,88,24">
80<area href="classbdm_1_1bdmroot.html" alt="bdm::bdmroot" shape="rect" coords="98,0,186,24">
81</map>
82</div>
83
[84]84<p>
[280]85<a href="classEKFfixed-members.html">List of all members.</a><hr><a name="_details"></a><h2>Detailed Description</h2>
86Extended Kalman Filter with full matrices in fixed point arithmetic.
87<p>
88An approximation of the exact Bayesian filter with Gaussian noices and non-linear evolutions of their mean. <table border="0" cellpadding="0" cellspacing="0">
[84]89<tr><td></td></tr>
90<tr><td colspan="2"><br><h2>Public Member Functions</h2></td></tr>
91<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)" -->
92void&nbsp;</td><td class="memItemRight" valign="bottom"><b>init_ekf</b> (double Tv)</td></tr>
93
94<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)" -->
95void&nbsp;</td><td class="memItemRight" valign="bottom"><b>ekf</b> (double ux, double uy, double isxd, double isyd)</td></tr>
96
97<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="e77b35e1a11356dbfb1fdfa3017f60d3"></a><!-- doxytag: member="EKFfixed::prediction" ref="e77b35e1a11356dbfb1fdfa3017f60d3" args="(int *ux)" -->
98void&nbsp;</td><td class="memItemRight" valign="bottom"><b>prediction</b> (int *ux)</td></tr>
99
100<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="83ed56b86a056d7dbdd6ce44145fa5f3"></a><!-- doxytag: member="EKFfixed::correction" ref="83ed56b86a056d7dbdd6ce44145fa5f3" args="(void)" -->
101void&nbsp;</td><td class="memItemRight" valign="bottom"><b>correction</b> (void)</td></tr>
102
103<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="dce43355681cfe8f1905db207b4dde8d"></a><!-- doxytag: member="EKFfixed::update_psi" ref="dce43355681cfe8f1905db207b4dde8d" args="(void)" -->
104void&nbsp;</td><td class="memItemRight" valign="bottom"><b>update_psi</b> (void)</td></tr>
105
[280]106<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="05d1f11bd56305420b56fe83ada6e586"></a><!-- doxytag: member="EKFfixed::EKFfixed" ref="05d1f11bd56305420b56fe83ada6e586" args="()" -->
107&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classEKFfixed.html#05d1f11bd56305420b56fe83ada6e586">EKFfixed</a> ()</td></tr>
[84]108
109<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Default constructor. <br></td></tr>
110<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)" -->
111void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classEKFfixed.html#ddf5334bc1207658fd53698fffbac028">bayes</a> (const vec &amp;dt)</td></tr>
112
113<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Here dt = [yt;ut] of appropriate dimensions. <br></td></tr>
[280]114<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="f3979e5514fe4278a519ba4481e287ac"></a><!-- doxytag: member="EKFfixed::posterior" ref="f3979e5514fe4278a519ba4481e287ac" args="()" -->
115<a class="el" href="classbdm_1_1epdf.html">epdf</a> &amp;&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classEKFfixed.html#f3979e5514fe4278a519ba4481e287ac">posterior</a> ()</td></tr>
[84]116
117<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">dummy! <br></td></tr>
118<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)" -->
119void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classEKFfixed.html#c7fee79e75ad7f0c0e96c5a322cbf44e">condition</a> (const vec &amp;Q0)</td></tr>
120
121<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Substitute <code>val</code> for <code>rvc</code>. <br></td></tr>
[280]122<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="7506910f93250b44fea505ec4ffb19dc"></a><!-- doxytag: member="EKFfixed::_rvc" ref="7506910f93250b44fea505ec4ffb19dc" args="() const " -->
123const RV &amp;&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1BMcond.html#7506910f93250b44fea505ec4ffb19dc">_rvc</a> () const </td></tr>
124
125<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">access function <br></td></tr>
126<tr><td colspan="2"><div class="groupHeader">Constructors</div></td></tr>
127<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual BM *&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1BM.html#c0f027ff91d8459937c6f60ff8e553ff">_copy_</a> ()</td></tr>
128
129<tr><td colspan="2"><div class="groupHeader">Mathematical operations</div></td></tr>
[255]130<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="1dee3fddaf021e62d925289660a707dc"></a><!-- doxytag: member="EKFfixed::bayesB" ref="1dee3fddaf021e62d925289660a707dc" args="(const mat &amp;Dt)" -->
131virtual void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1BM.html#1dee3fddaf021e62d925289660a707dc">bayesB</a> (const mat &amp;Dt)</td></tr>
[84]132
133<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Batch Bayes rule (columns of Dt are observations). <br></td></tr>
[255]134<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual double&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1BM.html#50257e0c1e5b5c73153ea6e716ad8ae0">logpred</a> (const vec &amp;dt) const </td></tr>
[171]135
[255]136<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="0e8ebe61fb14990abe1254bd3dda5fae"></a><!-- doxytag: member="EKFfixed::logpred_m" ref="0e8ebe61fb14990abe1254bd3dda5fae" args="(const mat &amp;dt) const " -->
137vec&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1BM.html#0e8ebe61fb14990abe1254bd3dda5fae">logpred_m</a> (const mat &amp;dt) const </td></tr>
[180]138
139<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Matrix version of logpred. <br></td></tr>
[280]140<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="688d7a2aced1e06aa1c468d73a9e5eba"></a><!-- doxytag: member="EKFfixed::epredictor" ref="688d7a2aced1e06aa1c468d73a9e5eba" args="() const " -->
141virtual epdf *&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1BM.html#688d7a2aced1e06aa1c468d73a9e5eba">epredictor</a> () const </td></tr>
[180]142
[280]143<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Constructs a predictive density <img class="formulaInl" alt="$ f(d_{t+1} |d_{t}, \ldots d_{0}) $" src="form_49.png">. <br></td></tr>
144<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="598b25e3f3d96a5bc00a5faeb5b3c912"></a><!-- doxytag: member="EKFfixed::predictor" ref="598b25e3f3d96a5bc00a5faeb5b3c912" args="() const " -->
145virtual mpdf *&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1BM.html#598b25e3f3d96a5bc00a5faeb5b3c912">predictor</a> () const </td></tr>
[84]146
[280]147<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Constructs a conditional density 1-step ahead predictor. <br></td></tr>
148<tr><td colspan="2"><div class="groupHeader">Access to attributes</div></td></tr>
149<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="ff2d8755ba0b3def927d31305c03b09c"></a><!-- doxytag: member="EKFfixed::_drv" ref="ff2d8755ba0b3def927d31305c03b09c" args="() const " -->
150const RV &amp;&nbsp;</td><td class="memItemRight" valign="bottom"><b>_drv</b> () const </td></tr>
151
152<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="f135ae6dce7e9f30c9f88229c7930b96"></a><!-- doxytag: member="EKFfixed::set_drv" ref="f135ae6dce7e9f30c9f88229c7930b96" args="(const RV &amp;rv)" -->
153void&nbsp;</td><td class="memItemRight" valign="bottom"><b>set_drv</b> (const RV &amp;rv)</td></tr>
154
155<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="b38d92f17620813ad872d86e01a26e5e"></a><!-- doxytag: member="EKFfixed::set_rv" ref="b38d92f17620813ad872d86e01a26e5e" args="(const RV &amp;rv)" -->
156void&nbsp;</td><td class="memItemRight" valign="bottom"><b>set_rv</b> (const RV &amp;rv)</td></tr>
157
[255]158<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="5be65d37dedfe33a3671e7065f523a70"></a><!-- doxytag: member="EKFfixed::_ll" ref="5be65d37dedfe33a3671e7065f523a70" args="() const " -->
[280]159double&nbsp;</td><td class="memItemRight" valign="bottom"><b>_ll</b> () const </td></tr>
[84]160
[255]161<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="236b3abbcc93594fc97cd86d82c1a83f"></a><!-- doxytag: member="EKFfixed::set_evalll" ref="236b3abbcc93594fc97cd86d82c1a83f" args="(bool evl0)" -->
[280]162void&nbsp;</td><td class="memItemRight" valign="bottom"><b>set_evalll</b> (bool evl0)</td></tr>
[171]163
[280]164<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="bb7b0065d6cb722a66b371a8260121e1"></a><!-- doxytag: member="EKFfixed::posterior" ref="bb7b0065d6cb722a66b371a8260121e1" args="() const =0" -->
165virtual const epdf &amp;&nbsp;</td><td class="memItemRight" valign="bottom"><b>posterior</b> () const =0</td></tr>
[171]166
[280]167<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="4ed0f8b880e606316ae800f3a011c3a6"></a><!-- doxytag: member="EKFfixed::_e" ref="4ed0f8b880e606316ae800f3a011c3a6" args="() const =0" -->
168virtual const epdf *&nbsp;</td><td class="memItemRight" valign="bottom"><b>_e</b> () const =0</td></tr>
[84]169
170<tr><td colspan="2"><br><h2>Public Attributes</h2></td></tr>
171<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="d04ddf049475a15e1ba93161aa5586ab"></a><!-- doxytag: member="EKFfixed::Q" ref="d04ddf049475a15e1ba93161aa5586ab" args="[16]" -->
172int&nbsp;</td><td class="memItemRight" valign="bottom"><b>Q</b> [16]</td></tr>
173
174<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="d914213d413b4d8f8d7bb728c5063d5e"></a><!-- doxytag: member="EKFfixed::R" ref="d914213d413b4d8f8d7bb728c5063d5e" args="[4]" -->
175int&nbsp;</td><td class="memItemRight" valign="bottom"><b>R</b> [4]</td></tr>
176
177<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="7fd20a80b00e9782da676e48eb5b54b3"></a><!-- doxytag: member="EKFfixed::x_est" ref="7fd20a80b00e9782da676e48eb5b54b3" args="[4]" -->
178int&nbsp;</td><td class="memItemRight" valign="bottom"><b>x_est</b> [4]</td></tr>
179
180<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="9518fa723d7324f75df7822a589ee196"></a><!-- doxytag: member="EKFfixed::x_pred" ref="9518fa723d7324f75df7822a589ee196" args="[4]" -->
181int&nbsp;</td><td class="memItemRight" valign="bottom"><b>x_pred</b> [4]</td></tr>
182
183<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="0b731c546a474433c1ea6f36f0125774"></a><!-- doxytag: member="EKFfixed::P_pred" ref="0b731c546a474433c1ea6f36f0125774" args="[16]" -->
184int&nbsp;</td><td class="memItemRight" valign="bottom"><b>P_pred</b> [16]</td></tr>
185
186<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="b9ec9cb2d092ca3f4ad2a3b4420867ac"></a><!-- doxytag: member="EKFfixed::P_est" ref="b9ec9cb2d092ca3f4ad2a3b4420867ac" args="[16]" -->
187int&nbsp;</td><td class="memItemRight" valign="bottom"><b>P_est</b> [16]</td></tr>
188
189<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="5a8040cdb8bb5dca753485dc67db3287"></a><!-- doxytag: member="EKFfixed::Y_mes" ref="5a8040cdb8bb5dca753485dc67db3287" args="[2]" -->
190int&nbsp;</td><td class="memItemRight" valign="bottom"><b>Y_mes</b> [2]</td></tr>
191
192<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="9292e43fb8e6fedfabb3a9b3c2118e33"></a><!-- doxytag: member="EKFfixed::ukalm" ref="9292e43fb8e6fedfabb3a9b3c2118e33" args="[2]" -->
193int&nbsp;</td><td class="memItemRight" valign="bottom"><b>ukalm</b> [2]</td></tr>
194
195<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="f754902bb769d3b58b89108c76d9a394"></a><!-- doxytag: member="EKFfixed::Kalm" ref="f754902bb769d3b58b89108c76d9a394" args="[8]" -->
196int&nbsp;</td><td class="memItemRight" valign="bottom"><b>Kalm</b> [8]</td></tr>
197
198<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="bf4b3d55c8d277673bf77f37f6590217"></a><!-- doxytag: member="EKFfixed::PSI" ref="bf4b3d55c8d277673bf77f37f6590217" args="[16]" -->
199int&nbsp;</td><td class="memItemRight" valign="bottom"><b>PSI</b> [16]</td></tr>
200
201<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="8a677b253b54696701c1ca0cb6f7a622"></a><!-- doxytag: member="EKFfixed::temp15a" ref="8a677b253b54696701c1ca0cb6f7a622" args="[16]" -->
202int&nbsp;</td><td class="memItemRight" valign="bottom"><b>temp15a</b> [16]</td></tr>
203
204<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="6d4354dad09286a7a209983732853c5b"></a><!-- doxytag: member="EKFfixed::cA" ref="6d4354dad09286a7a209983732853c5b" args="" -->
205int&nbsp;</td><td class="memItemRight" valign="bottom"><b>cA</b></td></tr>
206
207<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="eac752adfb921c1c525f8c3b3fd15dad"></a><!-- doxytag: member="EKFfixed::cB" ref="eac752adfb921c1c525f8c3b3fd15dad" args="" -->
208int&nbsp;</td><td class="memItemRight" valign="bottom"><b>cB</b></td></tr>
209
210<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="2f35ef3dce13131ae9b4427309a1d005"></a><!-- doxytag: member="EKFfixed::cC" ref="2f35ef3dce13131ae9b4427309a1d005" args="" -->
211int&nbsp;</td><td class="memItemRight" valign="bottom"><b>cC</b></td></tr>
212
213<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="50b31e70bb17cbdde2e28c83b9612c47"></a><!-- doxytag: member="EKFfixed::cG" ref="50b31e70bb17cbdde2e28c83b9612c47" args="" -->
214int&nbsp;</td><td class="memItemRight" valign="bottom"><b>cG</b></td></tr>
215
216<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="086e18ad28d139b0a2c0f77badc77a9a"></a><!-- doxytag: member="EKFfixed::cH" ref="086e18ad28d139b0a2c0f77badc77a9a" args="" -->
217int&nbsp;</td><td class="memItemRight" valign="bottom"><b>cH</b></td></tr>
218
219<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="540046e3ab4d0bed4791f397062a626f"></a><!-- doxytag: member="EKFfixed::temp30a" ref="540046e3ab4d0bed4791f397062a626f" args="[4]" -->
220long&nbsp;</td><td class="memItemRight" valign="bottom"><b>temp30a</b> [4]</td></tr>
221
222<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="ea92b06e2b66c6771828e689bb727b76"></a><!-- doxytag: member="EKFfixed::E" ref="ea92b06e2b66c6771828e689bb727b76" args="" -->
[255]223<a class="el" href="classbdm_1_1enorm.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>
[84]224
225<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="6e5552506214757d24e59e508f91c8aa"></a><!-- doxytag: member="EKFfixed::Ry" ref="6e5552506214757d24e59e508f91c8aa" args="" -->
226mat&nbsp;</td><td class="memItemRight" valign="bottom"><b>Ry</b></td></tr>
227
228<tr><td colspan="2"><br><h2>Protected Attributes</h2></td></tr>
[280]229<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="c400357e37d27a4834b2b1d9211009ed"></a><!-- doxytag: member="EKFfixed::drv" ref="c400357e37d27a4834b2b1d9211009ed" args="" -->
230RV&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1BM.html#c400357e37d27a4834b2b1d9211009ed">drv</a></td></tr>
[84]231
[280]232<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Random variable of the data (optional). <br></td></tr>
[255]233<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="4064b6559d962633e4372b12f4cd204a"></a><!-- doxytag: member="EKFfixed::ll" ref="4064b6559d962633e4372b12f4cd204a" args="" -->
234double&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1BM.html#4064b6559d962633e4372b12f4cd204a">ll</a></td></tr>
[84]235
236<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Logarithm of marginalized data likelihood. <br></td></tr>
[255]237<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="faff0ad12556fe7dc0e2807d4fd938ee"></a><!-- doxytag: member="EKFfixed::evalll" ref="faff0ad12556fe7dc0e2807d4fd938ee" args="" -->
238bool&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1BM.html#faff0ad12556fe7dc0e2807d4fd938ee">evalll</a></td></tr>
[84]239
[171]240<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>
[280]241<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="1164a90f782a2a323b1ee17242100b39"></a><!-- doxytag: member="EKFfixed::dimc" ref="1164a90f782a2a323b1ee17242100b39" args="" -->
242int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1BMcond.html#1164a90f782a2a323b1ee17242100b39">dimc</a></td></tr>
243
244<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">dimension of the conditioning variable <br></td></tr>
[255]245<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="9a12750776d977408aada06a70093297"></a><!-- doxytag: member="EKFfixed::rvc" ref="9a12750776d977408aada06a70093297" args="" -->
246RV&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1BMcond.html#9a12750776d977408aada06a70093297">rvc</a></td></tr>
[84]247
248<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Identificator of the conditioning variable. <br></td></tr>
249</table>
[280]250<hr><h2>Member Function Documentation</h2>
251<a class="anchor" name="c0f027ff91d8459937c6f60ff8e553ff"></a><!-- doxytag: member="EKFfixed::_copy_" ref="c0f027ff91d8459937c6f60ff8e553ff" args="()" -->
[171]252<div class="memitem">
253<div class="memproto">
254      <table class="memname">
255        <tr>
[280]256          <td class="memname">virtual BM* bdm::BM::_copy_           </td>
[171]257          <td>(</td>
[280]258          <td class="paramname">          </td>
[171]259          <td>&nbsp;)&nbsp;</td>
[280]260          <td><code> [inline, virtual, inherited]</code></td>
[171]261        </tr>
262      </table>
263</div>
264<div class="memdoc">
265
266<p>
[280]267Copy function required in vectors, Arrays of <a class="el" href="classbdm_1_1BM.html" title="Bayesian Model of a system, i.e. all uncertainty is modeled by probabilities.">BM</a> etc. Have to be DELETED manually! Prototype: <div class="fragment"><pre class="fragment"> BM* <a class="code" href="classbdm_1_1BM.html#c0f027ff91d8459937c6f60ff8e553ff">_copy_</a>(){<span class="keywordflow">return</span> <span class="keyword">new</span> BM(*<span class="keyword">this</span>);}
268</pre></div> 
269<p>Reimplemented in <a class="el" href="classbdm_1_1ARX.html#60c40b5c6abc4c7e464b4ccae64a5a61">bdm::ARX</a>.</p>
[171]270
271</div>
272</div><p>
[280]273<a class="anchor" name="50257e0c1e5b5c73153ea6e716ad8ae0"></a><!-- doxytag: member="EKFfixed::logpred" ref="50257e0c1e5b5c73153ea6e716ad8ae0" args="(const vec &amp;dt) const " -->
[171]274<div class="memitem">
275<div class="memproto">
276      <table class="memname">
277        <tr>
[280]278          <td class="memname">virtual double bdm::BM::logpred           </td>
[171]279          <td>(</td>
[280]280          <td class="paramtype">const vec &amp;&nbsp;</td>
281          <td class="paramname"> <em>dt</em>          </td>
[171]282          <td>&nbsp;)&nbsp;</td>
[280]283          <td> const<code> [inline, virtual, inherited]</code></td>
[171]284        </tr>
285      </table>
286</div>
287<div class="memdoc">
288
289<p>
[280]290Evaluates predictive log-likelihood of the given data record I.e. marginal likelihood of the data with the posterior integrated out.
291<p>Reimplemented in <a class="el" href="classbdm_1_1ARX.html#080a7e531e3aa06694112863b15bc6a4">bdm::ARX</a>, <a class="el" href="classbdm_1_1MixEF.html#da724da464a75e07521941e430929efa">bdm::MixEF</a>, and <a class="el" href="classbdm_1_1multiBM.html#e157b607c1e3fa91d42aeea44458e2bf">bdm::multiBM</a>.</p>
[171]292
[280]293<p>Referenced by <a class="el" href="libBM_8h-source.html#l00628">bdm::BM::logpred_m()</a>.</p>
294
[171]295</div>
296</div><p>
297<hr>The documentation for this class was generated from the following files:<ul>
[261]298<li><a class="el" href="ekf__obj_8h-source.html">ekf_obj.h</a><li>ekf_obj.cpp</ul>
[91]299</div>
[280]300<hr size="1"><address style="text-align: right;"><small>Generated on Wed Feb 18 17:38:51 2009 for mixpp by&nbsp;
[84]301<a href="http://www.doxygen.org/index.html">
[139]302<img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.6 </small></address>
[84]303</body>
304</html>
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