work/git/mixpp/bdm/estim/ekf_templ.h

Go to the documentation of this file.

#ifndef EKF_TEMP_H
#define EKF_TEMP_H

#include "libKF.h"

using namespace itpp;

class EKFful_unQR : public EKFfull , public BMcond {
public:
        EKFful_unQR ( RV rx, RV ry,RV ru,RV rQR ) :EKFfull ( rx,ry,ru ),BMcond ( rQR ) {};
        void condition ( const vec &QR0 ) {
                Q=diag(QR0(0,dimx-1));
                R=diag(QR0(dimx,dimx+dimy-1));
        };
};


#endif //EKF_TEMP_H

---