root/doc/html/ekf__templ_8h-source.html @ 280

Revision 280, 9.2 kB (checked in by smidl, 16 years ago)

progress...

RevLine 
[139]1<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN">
2<html><head><meta http-equiv="Content-Type" content="text/html;charset=UTF-8">
[261]3<title>mixpp: ekf_templ.h Source File</title>
[139]4<link href="doxygen.css" rel="stylesheet" type="text/css">
5<link href="tabs.css" rel="stylesheet" type="text/css">
6</head><body>
7<!-- Generated by Doxygen 1.5.6 -->
[271]8<script type="text/javascript">
9<!--
10function changeDisplayState (e){
11  var num=this.id.replace(/[^[0-9]/g,'');
12  var button=this.firstChild;
13  var sectionDiv=document.getElementById('dynsection'+num);
14  if (sectionDiv.style.display=='none'||sectionDiv.style.display==''){
15    sectionDiv.style.display='block';
16    button.src='open.gif';
17  }else{
18    sectionDiv.style.display='none';
19    button.src='closed.gif';
20  }
21}
22function initDynSections(){
23  var divs=document.getElementsByTagName('div');
24  var sectionCounter=1;
25  for(var i=0;i<divs.length-1;i++){
26    if(divs[i].className=='dynheader'&&divs[i+1].className=='dynsection'){
27      var header=divs[i];
28      var section=divs[i+1];
29      var button=header.firstChild;
30      if (button!='IMG'){
31        divs[i].insertBefore(document.createTextNode(' '),divs[i].firstChild);
32        button=document.createElement('img');
33        divs[i].insertBefore(button,divs[i].firstChild);
34      }
35      header.style.cursor='pointer';
36      header.onclick=changeDisplayState;
37      header.id='dynheader'+sectionCounter;
38      button.src='closed.gif';
39      section.id='dynsection'+sectionCounter;
40      section.style.display='none';
41      section.style.marginLeft='14px';
42      sectionCounter++;
43    }
44  }
45}
46window.onload = initDynSections;
47-->
48</script>
[139]49<div class="navigation" id="top">
50  <div class="tabs">
51    <ul>
[271]52      <li><a href="main.html"><span>Main&nbsp;Page</span></a></li>
[139]53      <li><a href="pages.html"><span>Related&nbsp;Pages</span></a></li>
[219]54      <li><a href="modules.html"><span>Modules</span></a></li>
[261]55      <li><a href="classes.html"><span>Classes</span></a></li>
[139]56      <li class="current"><a href="files.html"><span>Files</span></a></li>
57    </ul>
58  </div>
[261]59<h1>ekf_templ.h</h1><a href="ekf__templ_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001
[139]60<a name="l00013"></a>00013 <span class="preprocessor">#ifndef EKF_TEMP_H</span>
61<a name="l00014"></a>00014 <span class="preprocessor"></span><span class="preprocessor">#define EKF_TEMP_H</span>
62<a name="l00015"></a>00015 <span class="preprocessor"></span>
63<a name="l00016"></a>00016 <span class="preprocessor">#include "<a class="code" href="libKF_8h.html" title="Bayesian Filtering for linear Gaussian models (Kalman Filter) and extensions.">libKF.h</a>"</span>
64<a name="l00017"></a>00017
[255]65<a name="l00018"></a>00018 <span class="keyword">namespace </span>bdm{
[139]66<a name="l00019"></a>00019
[255]67<a name="l00021"></a><a class="code" href="classbdm_1_1EKFful__unQR.html">00021</a> <span class="keyword">class </span><a class="code" href="classbdm_1_1EKFful__unQR.html" title="Extended Kalman filter with unknown Q and R.">EKFful_unQR</a> : <span class="keyword">public</span> <a class="code" href="classbdm_1_1EKFfull.html" title="Extended Kalman Filter in full matrices.">EKFfull</a> , <span class="keyword">public</span> <a class="code" href="classbdm_1_1BMcond.html" title="Conditional Bayesian Filter.">BMcond</a> {
[139]68<a name="l00022"></a>00022 <span class="keyword">public</span>:
[280]69<a name="l00024"></a><a class="code" href="classbdm_1_1EKFful__unQR.html#538923d568db236bf5cd7120ae35b22d">00024</a>         <a class="code" href="classbdm_1_1EKFful__unQR.html#538923d568db236bf5cd7120ae35b22d" title="Default constructor.">EKFful_unQR</a> ( ) :<a class="code" href="classbdm_1_1EKFfull.html" title="Extended Kalman Filter in full matrices.">EKFfull</a> ( ),<a class="code" href="classbdm_1_1BMcond.html" title="Conditional Bayesian Filter.">BMcond</a> ( ) {};
[255]70<a name="l00025"></a><a class="code" href="classbdm_1_1EKFful__unQR.html#17a98c06f5efe38e0da0beb96d6f9584">00025</a>         <span class="keywordtype">void</span> <a class="code" href="classbdm_1_1EKFful__unQR.html#17a98c06f5efe38e0da0beb96d6f9584" title="Substitute val for rvc.">condition</a> ( <span class="keyword">const</span> vec &amp;QR0 ) {
[139]71<a name="l00026"></a>00026                 Q=diag(QR0(0,dimx-1));
72<a name="l00027"></a>00027                 R=diag(QR0(dimx,dimx+dimy-1));
73<a name="l00028"></a>00028         };
74<a name="l00029"></a>00029 };
75<a name="l00030"></a>00030
[255]76<a name="l00032"></a><a class="code" href="classbdm_1_1EKFCh__unQ.html">00032</a> <span class="keyword">class </span><a class="code" href="classbdm_1_1EKFCh__unQ.html" title="Extended Kalman filter in Choleski form with unknown Q.">EKFCh_unQ</a> : <span class="keyword">public</span> <a class="code" href="classbdm_1_1EKFCh.html" title="Extended Kalman Filter in Square root.">EKFCh</a> , <span class="keyword">public</span> <a class="code" href="classbdm_1_1BMcond.html" title="Conditional Bayesian Filter.">BMcond</a> {
[234]77<a name="l00033"></a>00033 <span class="keyword">public</span>:
[280]78<a name="l00035"></a><a class="code" href="classbdm_1_1EKFCh__unQ.html#9b00134826b10bb93fc34336d6e0f9cd">00035</a>         <a class="code" href="classbdm_1_1EKFCh__unQ.html#9b00134826b10bb93fc34336d6e0f9cd" title="Default constructor.">EKFCh_unQ</a> (  ) :<a class="code" href="classbdm_1_1EKFCh.html" title="Extended Kalman Filter in Square root.">EKFCh</a> ( ),<a class="code" href="classbdm_1_1BMcond.html" title="Conditional Bayesian Filter.">BMcond</a> ( ) {};
[255]79<a name="l00036"></a><a class="code" href="classbdm_1_1EKFCh__unQ.html#701ae97d38e43b1660529868de90706c">00036</a>         <span class="keywordtype">void</span> <a class="code" href="classbdm_1_1EKFCh__unQ.html#701ae97d38e43b1660529868de90706c" title="Substitute val for rvc.">condition</a> ( <span class="keyword">const</span> vec &amp;Q0 ) {
80<a name="l00037"></a>00037                 <a class="code" href="classbdm_1_1Kalman.html#70f8bf19e81b532c60fd3a7a152425ee" title="Matrix Q in square-root form.">Q</a>.<a class="code" href="classchmat.html#a4fc7f9b0539b97c414442a22f3db6e8" title="Access functions.">setD</a> ( Q0,0 );
[234]81<a name="l00038"></a>00038                 <span class="comment">//from EKF</span>
[255]82<a name="l00039"></a>00039                 <a class="code" href="classbdm_1_1KalmanCh.html#48611c8582706cfa62e832be0972e75d" title="pre array (triangular matrix)">preA</a>.set_submatrix ( <a class="code" href="classbdm_1_1Kalman.html#d2c36ba01760bf207b985bf321b7817f" title="cache of rvy.count()">dimy</a>+<a class="code" href="classbdm_1_1Kalman.html#ba7699cdb3b1382a54d3e28b9b7517fa" title="cache of rv.count()">dimx</a>,<a class="code" href="classbdm_1_1Kalman.html#d2c36ba01760bf207b985bf321b7817f" title="cache of rvy.count()">dimy</a>,<a class="code" href="classbdm_1_1Kalman.html#70f8bf19e81b532c60fd3a7a152425ee" title="Matrix Q in square-root form.">Q</a>.<a class="code" href="classchmat.html#9c50d31c999d85d8e9d8cf2b69b6ac8c" title="Access function.">_Ch</a>() );
[234]83<a name="l00040"></a>00040         };
84<a name="l00041"></a>00041 };
85<a name="l00042"></a>00042
[255]86<a name="l00044"></a><a class="code" href="classbdm_1_1EKFCh__cond.html">00044</a> <span class="keyword">class </span><a class="code" href="classbdm_1_1EKFCh__cond.html" title="Extended Kalman filter with unknown parameters in IM.">EKFCh_cond</a> : <span class="keyword">public</span> <a class="code" href="classbdm_1_1EKFCh.html" title="Extended Kalman Filter in Square root.">EKFCh</a> , <span class="keyword">public</span> <a class="code" href="classbdm_1_1BMcond.html" title="Conditional Bayesian Filter.">BMcond</a> {
[234]87<a name="l00045"></a>00045         <span class="keyword">public</span>:
[280]88<a name="l00047"></a><a class="code" href="classbdm_1_1EKFCh__cond.html#fafaf98b79f892fa3fd832e2d89fb11e">00047</a>                 <a class="code" href="classbdm_1_1EKFCh__cond.html#fafaf98b79f892fa3fd832e2d89fb11e" title="Default constructor.">EKFCh_cond</a> ( ) :<a class="code" href="classbdm_1_1EKFCh.html" title="Extended Kalman Filter in Square root.">EKFCh</a> ( ),<a class="code" href="classbdm_1_1BMcond.html" title="Conditional Bayesian Filter.">BMcond</a> ( ) {};
[255]89<a name="l00048"></a><a class="code" href="classbdm_1_1EKFCh__cond.html#8c792fe284f4a26e6af9de251323fc52">00048</a>                 <span class="keywordtype">void</span> <a class="code" href="classbdm_1_1EKFCh__cond.html#8c792fe284f4a26e6af9de251323fc52" title="Substitute val for rvc.">condition</a> ( <span class="keyword">const</span> vec &amp;val ) {
90<a name="l00049"></a>00049                         <a class="code" href="classbdm_1_1EKFCh.html#e1e895f994398a55bc425551fc275ba3" title="Internal Model f(x,u).">pfxu</a>-&gt;<a class="code" href="classbdm_1_1fnc.html#0786e40fade2663a70d654c1dda5d73e" title="function substitutes given value into an appropriate position">condition</a> ( val );
[234]91<a name="l00050"></a>00050                 };
92<a name="l00051"></a>00051 };
93<a name="l00052"></a>00052
[255]94<a name="l00053"></a>00053 }
95<a name="l00054"></a>00054 <span class="preprocessor">#endif //EKF_TEMP_H</span>
[139]96</pre></div></div>
[280]97<hr size="1"><address style="text-align: right;"><small>Generated on Wed Feb 18 17:38:39 2009 for mixpp by&nbsp;
[139]98<a href="http://www.doxygen.org/index.html">
99<img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.6 </small></address>
100</body>
101</html>
Note: See TracBrowser for help on using the browser.