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69<h1>EKFfixed Class Reference</h1><!-- doxytag: class="EKFfixed" --><!-- doxytag: inherits="bdm::BM" --><code>#include &lt;<a class="el" href="ekf__obj_8h-source.html">ekf_obj.h</a>&gt;</code>
70<p>
71<div class="dynheader">
72Inheritance diagram for EKFfixed:</div>
73<div class="dynsection">
74
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="0,56,86,80">
78<area href="classbdm_1_1bdmroot.html" alt="bdm::bdmroot" shape="rect" coords="0,0,86,24">
79</map>
80</div>
81
82<p>
83<a href="classEKFfixed-members.html">List of all members.</a><hr><a name="_details"></a><h2>Detailed Description</h2>
84Extended Kalman Filter with full matrices in fixed point arithmetic.
85<p>
86An approximation of the exact Bayesian filter with Gaussian noices and non-linear evolutions of their mean. <table border="0" cellpadding="0" cellspacing="0">
87<tr><td></td></tr>
88<tr><td colspan="2"><br><h2>Extension to conditional BM</h2></td></tr>
89<tr><td colspan="2">This extension is useful e.g. in Marginalized Particle Filter (<a class="el" href="classbdm_1_1MPF.html">bdm::MPF</a>). Alternatively, it can be used for automated connection to DS when the condition is observed <br><br></td></tr>
90<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="de95c590d650b2db423d53992f0906cb"></a><!-- doxytag: member="EKFfixed::rvc" ref="de95c590d650b2db423d53992f0906cb" args="" -->
91RV&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1BM.html#de95c590d650b2db423d53992f0906cb">rvc</a></td></tr>
92
93<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Name of extension variable. <br></td></tr>
94<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="b5e8e016be16e4029c789063cb3f3b33"></a><!-- doxytag: member="EKFfixed::_rvc" ref="b5e8e016be16e4029c789063cb3f3b33" args="() const " -->
95const RV &amp;&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1BM.html#b5e8e016be16e4029c789063cb3f3b33">_rvc</a> () const </td></tr>
96
97<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">access function <br></td></tr>
98<tr><td colspan="2"><br><h2>Logging of results</h2></td></tr>
99<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="109c1a626a69031658e3a44e9e500cca"></a><!-- doxytag: member="EKFfixed::LIDs" ref="109c1a626a69031658e3a44e9e500cca" args="" -->
100ivec&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1BM.html#109c1a626a69031658e3a44e9e500cca">LIDs</a></td></tr>
101
102<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">IDs of storages in loggers. <br></td></tr>
103<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="a5e0000d2c9df99b029eceff222f7d77"></a><!-- doxytag: member="EKFfixed::opt_L_bounds" ref="a5e0000d2c9df99b029eceff222f7d77" args="" -->
104bool&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1BM.html#a5e0000d2c9df99b029eceff222f7d77">opt_L_bounds</a></td></tr>
105
106<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Option for logging bounds. <br></td></tr>
107<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="224dd68a83c1472b43163763fa93c477"></a><!-- doxytag: member="EKFfixed::set_options" ref="224dd68a83c1472b43163763fa93c477" args="(const string &amp;opt)" -->
108void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1BM.html#224dd68a83c1472b43163763fa93c477">set_options</a> (const string &amp;opt)</td></tr>
109
110<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Set boolean options from a string. <br></td></tr>
111<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="aa5d1f7e638db229403e3917bf155ee3"></a><!-- doxytag: member="EKFfixed::log_add" ref="aa5d1f7e638db229403e3917bf155ee3" args="(logger *L, const string &amp;name=&quot;&quot;)" -->
112void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1BM.html#aa5d1f7e638db229403e3917bf155ee3">log_add</a> (logger *L, const string &amp;name=&quot;&quot;)</td></tr>
113
114<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Add all logged variables to a <a class="el" href="classbdm_1_1logger.html" title="Class for storing results (and semi-results) of an experiment.">logger</a>. <br></td></tr>
115<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="0647606eefbf294623bf664971c7d461"></a><!-- doxytag: member="EKFfixed::logit" ref="0647606eefbf294623bf664971c7d461" args="(logger *L)" -->
116void&nbsp;</td><td class="memItemRight" valign="bottom"><b>logit</b> (logger *L)</td></tr>
117
118<tr><td colspan="2"><br><h2>Public Member Functions</h2></td></tr>
119<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)" -->
120void&nbsp;</td><td class="memItemRight" valign="bottom"><b>init_ekf</b> (double Tv)</td></tr>
121
122<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)" -->
123void&nbsp;</td><td class="memItemRight" valign="bottom"><b>ekf</b> (double ux, double uy, double isxd, double isyd)</td></tr>
124
125<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="e77b35e1a11356dbfb1fdfa3017f60d3"></a><!-- doxytag: member="EKFfixed::prediction" ref="e77b35e1a11356dbfb1fdfa3017f60d3" args="(int *ux)" -->
126void&nbsp;</td><td class="memItemRight" valign="bottom"><b>prediction</b> (int *ux)</td></tr>
127
128<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="83ed56b86a056d7dbdd6ce44145fa5f3"></a><!-- doxytag: member="EKFfixed::correction" ref="83ed56b86a056d7dbdd6ce44145fa5f3" args="(void)" -->
129void&nbsp;</td><td class="memItemRight" valign="bottom"><b>correction</b> (void)</td></tr>
130
131<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="dce43355681cfe8f1905db207b4dde8d"></a><!-- doxytag: member="EKFfixed::update_psi" ref="dce43355681cfe8f1905db207b4dde8d" args="(void)" -->
132void&nbsp;</td><td class="memItemRight" valign="bottom"><b>update_psi</b> (void)</td></tr>
133
134<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="05d1f11bd56305420b56fe83ada6e586"></a><!-- doxytag: member="EKFfixed::EKFfixed" ref="05d1f11bd56305420b56fe83ada6e586" args="()" -->
135&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classEKFfixed.html#05d1f11bd56305420b56fe83ada6e586">EKFfixed</a> ()</td></tr>
136
137<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Default constructor. <br></td></tr>
138<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)" -->
139void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classEKFfixed.html#ddf5334bc1207658fd53698fffbac028">bayes</a> (const vec &amp;dt)</td></tr>
140
141<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Here dt = [yt;ut] of appropriate dimensions. <br></td></tr>
142<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="f3979e5514fe4278a519ba4481e287ac"></a><!-- doxytag: member="EKFfixed::posterior" ref="f3979e5514fe4278a519ba4481e287ac" args="()" -->
143<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>
144
145<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">dummy! <br></td></tr>
146<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)" -->
147void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classEKFfixed.html#c7fee79e75ad7f0c0e96c5a322cbf44e">condition</a> (const vec &amp;Q0)</td></tr>
148
149<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Substitute <code>val</code> for <code>rvc</code>. <br></td></tr>
150<tr><td colspan="2"><div class="groupHeader">Constructors</div></td></tr>
151<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#40f01563651c1e4fe926189e41a6b8ab">_copy_</a> () const </td></tr>
152
153<tr><td colspan="2"><div class="groupHeader">Mathematical operations</div></td></tr>
154<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)" -->
155virtual 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>
156
157<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Batch Bayes rule (columns of Dt are observations). <br></td></tr>
158<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>
159
160<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 " -->
161vec&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>
162
163<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Matrix version of logpred. <br></td></tr>
164<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="688d7a2aced1e06aa1c468d73a9e5eba"></a><!-- doxytag: member="EKFfixed::epredictor" ref="688d7a2aced1e06aa1c468d73a9e5eba" args="() const " -->
165virtual epdf *&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1BM.html#688d7a2aced1e06aa1c468d73a9e5eba">epredictor</a> () const </td></tr>
166
167<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>
168<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="598b25e3f3d96a5bc00a5faeb5b3c912"></a><!-- doxytag: member="EKFfixed::predictor" ref="598b25e3f3d96a5bc00a5faeb5b3c912" args="() const " -->
169virtual mpdf *&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1BM.html#598b25e3f3d96a5bc00a5faeb5b3c912">predictor</a> () const </td></tr>
170
171<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Constructs a conditional density 1-step ahead predictor. <br></td></tr>
172<tr><td colspan="2"><div class="groupHeader">Access to attributes</div></td></tr>
173<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="ff2d8755ba0b3def927d31305c03b09c"></a><!-- doxytag: member="EKFfixed::_drv" ref="ff2d8755ba0b3def927d31305c03b09c" args="() const " -->
174const RV &amp;&nbsp;</td><td class="memItemRight" valign="bottom"><b>_drv</b> () const </td></tr>
175
176<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)" -->
177void&nbsp;</td><td class="memItemRight" valign="bottom"><b>set_drv</b> (const RV &amp;rv)</td></tr>
178
179<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)" -->
180void&nbsp;</td><td class="memItemRight" valign="bottom"><b>set_rv</b> (const RV &amp;rv)</td></tr>
181
182<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="5be65d37dedfe33a3671e7065f523a70"></a><!-- doxytag: member="EKFfixed::_ll" ref="5be65d37dedfe33a3671e7065f523a70" args="() const " -->
183double&nbsp;</td><td class="memItemRight" valign="bottom"><b>_ll</b> () const </td></tr>
184
185<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)" -->
186void&nbsp;</td><td class="memItemRight" valign="bottom"><b>set_evalll</b> (bool evl0)</td></tr>
187
188<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="bb7b0065d6cb722a66b371a8260121e1"></a><!-- doxytag: member="EKFfixed::posterior" ref="bb7b0065d6cb722a66b371a8260121e1" args="() const =0" -->
189virtual const epdf &amp;&nbsp;</td><td class="memItemRight" valign="bottom"><b>posterior</b> () const =0</td></tr>
190
191<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="4ed0f8b880e606316ae800f3a011c3a6"></a><!-- doxytag: member="EKFfixed::_e" ref="4ed0f8b880e606316ae800f3a011c3a6" args="() const =0" -->
192virtual const epdf *&nbsp;</td><td class="memItemRight" valign="bottom"><b>_e</b> () const =0</td></tr>
193
194<tr><td colspan="2"><br><h2>Public Attributes</h2></td></tr>
195<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="d04ddf049475a15e1ba93161aa5586ab"></a><!-- doxytag: member="EKFfixed::Q" ref="d04ddf049475a15e1ba93161aa5586ab" args="[16]" -->
196int&nbsp;</td><td class="memItemRight" valign="bottom"><b>Q</b> [16]</td></tr>
197
198<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="d914213d413b4d8f8d7bb728c5063d5e"></a><!-- doxytag: member="EKFfixed::R" ref="d914213d413b4d8f8d7bb728c5063d5e" args="[4]" -->
199int&nbsp;</td><td class="memItemRight" valign="bottom"><b>R</b> [4]</td></tr>
200
201<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="7fd20a80b00e9782da676e48eb5b54b3"></a><!-- doxytag: member="EKFfixed::x_est" ref="7fd20a80b00e9782da676e48eb5b54b3" args="[4]" -->
202int&nbsp;</td><td class="memItemRight" valign="bottom"><b>x_est</b> [4]</td></tr>
203
204<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="9518fa723d7324f75df7822a589ee196"></a><!-- doxytag: member="EKFfixed::x_pred" ref="9518fa723d7324f75df7822a589ee196" args="[4]" -->
205int&nbsp;</td><td class="memItemRight" valign="bottom"><b>x_pred</b> [4]</td></tr>
206
207<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="0b731c546a474433c1ea6f36f0125774"></a><!-- doxytag: member="EKFfixed::P_pred" ref="0b731c546a474433c1ea6f36f0125774" args="[16]" -->
208int&nbsp;</td><td class="memItemRight" valign="bottom"><b>P_pred</b> [16]</td></tr>
209
210<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="b9ec9cb2d092ca3f4ad2a3b4420867ac"></a><!-- doxytag: member="EKFfixed::P_est" ref="b9ec9cb2d092ca3f4ad2a3b4420867ac" args="[16]" -->
211int&nbsp;</td><td class="memItemRight" valign="bottom"><b>P_est</b> [16]</td></tr>
212
213<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="5a8040cdb8bb5dca753485dc67db3287"></a><!-- doxytag: member="EKFfixed::Y_mes" ref="5a8040cdb8bb5dca753485dc67db3287" args="[2]" -->
214int&nbsp;</td><td class="memItemRight" valign="bottom"><b>Y_mes</b> [2]</td></tr>
215
216<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="9292e43fb8e6fedfabb3a9b3c2118e33"></a><!-- doxytag: member="EKFfixed::ukalm" ref="9292e43fb8e6fedfabb3a9b3c2118e33" args="[2]" -->
217int&nbsp;</td><td class="memItemRight" valign="bottom"><b>ukalm</b> [2]</td></tr>
218
219<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="f754902bb769d3b58b89108c76d9a394"></a><!-- doxytag: member="EKFfixed::Kalm" ref="f754902bb769d3b58b89108c76d9a394" args="[8]" -->
220int&nbsp;</td><td class="memItemRight" valign="bottom"><b>Kalm</b> [8]</td></tr>
221
222<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="bf4b3d55c8d277673bf77f37f6590217"></a><!-- doxytag: member="EKFfixed::PSI" ref="bf4b3d55c8d277673bf77f37f6590217" args="[16]" -->
223int&nbsp;</td><td class="memItemRight" valign="bottom"><b>PSI</b> [16]</td></tr>
224
225<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="8a677b253b54696701c1ca0cb6f7a622"></a><!-- doxytag: member="EKFfixed::temp15a" ref="8a677b253b54696701c1ca0cb6f7a622" args="[16]" -->
226int&nbsp;</td><td class="memItemRight" valign="bottom"><b>temp15a</b> [16]</td></tr>
227
228<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="6d4354dad09286a7a209983732853c5b"></a><!-- doxytag: member="EKFfixed::cA" ref="6d4354dad09286a7a209983732853c5b" args="" -->
229int&nbsp;</td><td class="memItemRight" valign="bottom"><b>cA</b></td></tr>
230
231<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="eac752adfb921c1c525f8c3b3fd15dad"></a><!-- doxytag: member="EKFfixed::cB" ref="eac752adfb921c1c525f8c3b3fd15dad" args="" -->
232int&nbsp;</td><td class="memItemRight" valign="bottom"><b>cB</b></td></tr>
233
234<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="2f35ef3dce13131ae9b4427309a1d005"></a><!-- doxytag: member="EKFfixed::cC" ref="2f35ef3dce13131ae9b4427309a1d005" args="" -->
235int&nbsp;</td><td class="memItemRight" valign="bottom"><b>cC</b></td></tr>
236
237<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="50b31e70bb17cbdde2e28c83b9612c47"></a><!-- doxytag: member="EKFfixed::cG" ref="50b31e70bb17cbdde2e28c83b9612c47" args="" -->
238int&nbsp;</td><td class="memItemRight" valign="bottom"><b>cG</b></td></tr>
239
240<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="086e18ad28d139b0a2c0f77badc77a9a"></a><!-- doxytag: member="EKFfixed::cH" ref="086e18ad28d139b0a2c0f77badc77a9a" args="" -->
241int&nbsp;</td><td class="memItemRight" valign="bottom"><b>cH</b></td></tr>
242
243<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="540046e3ab4d0bed4791f397062a626f"></a><!-- doxytag: member="EKFfixed::temp30a" ref="540046e3ab4d0bed4791f397062a626f" args="[4]" -->
244long&nbsp;</td><td class="memItemRight" valign="bottom"><b>temp30a</b> [4]</td></tr>
245
246<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="ea92b06e2b66c6771828e689bb727b76"></a><!-- doxytag: member="EKFfixed::E" ref="ea92b06e2b66c6771828e689bb727b76" args="" -->
247<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>
248
249<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="6e5552506214757d24e59e508f91c8aa"></a><!-- doxytag: member="EKFfixed::Ry" ref="6e5552506214757d24e59e508f91c8aa" args="" -->
250mat&nbsp;</td><td class="memItemRight" valign="bottom"><b>Ry</b></td></tr>
251
252<tr><td colspan="2"><br><h2>Protected Attributes</h2></td></tr>
253<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="c400357e37d27a4834b2b1d9211009ed"></a><!-- doxytag: member="EKFfixed::drv" ref="c400357e37d27a4834b2b1d9211009ed" args="" -->
254RV&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1BM.html#c400357e37d27a4834b2b1d9211009ed">drv</a></td></tr>
255
256<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Random variable of the data (optional). <br></td></tr>
257<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="4064b6559d962633e4372b12f4cd204a"></a><!-- doxytag: member="EKFfixed::ll" ref="4064b6559d962633e4372b12f4cd204a" args="" -->
258double&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1BM.html#4064b6559d962633e4372b12f4cd204a">ll</a></td></tr>
259
260<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Logarithm of marginalized data likelihood. <br></td></tr>
261<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="faff0ad12556fe7dc0e2807d4fd938ee"></a><!-- doxytag: member="EKFfixed::evalll" ref="faff0ad12556fe7dc0e2807d4fd938ee" args="" -->
262bool&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1BM.html#faff0ad12556fe7dc0e2807d4fd938ee">evalll</a></td></tr>
263
264<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>
265</table>
266<hr><h2>Member Function Documentation</h2>
267<a class="anchor" name="40f01563651c1e4fe926189e41a6b8ab"></a><!-- doxytag: member="EKFfixed::_copy_" ref="40f01563651c1e4fe926189e41a6b8ab" args="() const " -->
268<div class="memitem">
269<div class="memproto">
270      <table class="memname">
271        <tr>
272          <td class="memname">virtual BM* bdm::BM::_copy_           </td>
273          <td>(</td>
274          <td class="paramname">          </td>
275          <td>&nbsp;)&nbsp;</td>
276          <td> const<code> [inline, virtual, inherited]</code></td>
277        </tr>
278      </table>
279</div>
280<div class="memdoc">
281
282<p>
283Copy 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#40f01563651c1e4fe926189e41a6b8ab">_copy_</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> <span class="keyword">new</span> BM(*<span class="keyword">this</span>);}
284</pre></div> 
285<p>Reimplemented in <a class="el" href="classbdm_1_1ARX.html#ca0b54c0997cfd567f49377af5def106">bdm::ARX</a>, <a class="el" href="classbdm_1_1KalmanCh.html#24ce65bdaa538d4d5153d709a929b996">bdm::KalmanCh</a>, <a class="el" href="classbdm_1_1EKF.html#fe9b2e227255ad32dc73df316b7318f4">bdm::EKF&lt; sq_T &gt;</a>, and <a class="el" href="classbdm_1_1EKFCh.html#1d1d91400e3f177de9fe7962ea17adc4">bdm::EKFCh</a>.</p>
286
287</div>
288</div><p>
289<a class="anchor" name="50257e0c1e5b5c73153ea6e716ad8ae0"></a><!-- doxytag: member="EKFfixed::logpred" ref="50257e0c1e5b5c73153ea6e716ad8ae0" args="(const vec &amp;dt) const " -->
290<div class="memitem">
291<div class="memproto">
292      <table class="memname">
293        <tr>
294          <td class="memname">virtual double bdm::BM::logpred           </td>
295          <td>(</td>
296          <td class="paramtype">const vec &amp;&nbsp;</td>
297          <td class="paramname"> <em>dt</em>          </td>
298          <td>&nbsp;)&nbsp;</td>
299          <td> const<code> [inline, virtual, inherited]</code></td>
300        </tr>
301      </table>
302</div>
303<div class="memdoc">
304
305<p>
306Evaluates predictive log-likelihood of the given data record I.e. marginal likelihood of the data with the posterior integrated out.
307<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>
308
309<p>Referenced by <a class="el" href="libBM_8h-source.html#l00650">bdm::BM::logpred_m()</a>.</p>
310
311</div>
312</div><p>
313<hr>The documentation for this class was generated from the following files:<ul>
314<li><a class="el" href="ekf__obj_8h-source.html">ekf_obj.h</a><li>ekf_obj.cpp</ul>
315</div>
316<hr size="1"><address style="text-align: right;"><small>Generated on Wed Mar 4 18:50:17 2009 for mixpp by&nbsp;
317<a href="http://www.doxygen.org/index.html">
318<img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.6 </small></address>
319</body>
320</html>
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