root/doc/html/pmsm__ui_8h-source.html @ 353

Revision 353, 26.2 kB (checked in by smidl, 16 years ago)

doc

Line 
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">
3<title>mixpp: pmsm_ui.h Source File</title>
4<link href="tabs.css" rel="stylesheet" type="text/css">
5<link href="doxygen.css" rel="stylesheet" type="text/css">
6</head><body>
7<!-- Generated by Doxygen 1.5.8 -->
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>
49<div class="navigation" id="top">
50  <div class="tabs">
51    <ul>
52      <li><a href="main.html"><span>Main&nbsp;Page</span></a></li>
53      <li><a href="pages.html"><span>Related&nbsp;Pages</span></a></li>
54      <li><a href="modules.html"><span>Modules</span></a></li>
55      <li><a href="annotated.html"><span>Classes</span></a></li>
56      <li class="current"><a href="files.html"><span>Files</span></a></li>
57    </ul>
58  </div>
59  <div class="tabs">
60    <ul>
61      <li><a href="files.html"><span>File&nbsp;List</span></a></li>
62      <li><a href="globals.html"><span>File&nbsp;Members</span></a></li>
63    </ul>
64  </div>
65<h1>pmsm_ui.h</h1><a href="pmsm__ui_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001
66<a name="l00013"></a>00013 <span class="preprocessor">#include "<a class="code" href="pmsmDS_8h.html" title="DataSource for experiments with realistic simulator of the PMSM model.">pmsmDS.h</a>"</span>
67<a name="l00014"></a>00014 <span class="preprocessor">#include &lt;uibuilder.h&gt;</span>
68<a name="l00015"></a>00015
69<a name="l00016"></a>00016 <span class="keyword">class </span>UIpmsmIM: <span class="keyword">public</span> <a class="code" href="classbdm_1_1UIbuilder.html" title="Builds computational object from a UserInfo structure.">UIbuilder</a> {
70<a name="l00017"></a>00017         <span class="keyword">protected</span>:
71<a name="l00018"></a>00018         <span class="keyword">static</span> <span class="keywordtype">void</span> tmp_set ( Setting &amp;S, <a class="code" href="classIMpmsm.html" title="State evolution model for a PMSM drive and its derivative with respect to .">IMpmsm</a>* IM ) {
72<a name="l00019"></a>00019                 <span class="comment">//set_parameters( Rs0, Ls0, dt0, Ypm0, kp0, p0, J0, Mz0 )</span>
73<a name="l00020"></a>00020                 IM-&gt;<a class="code" href="classIMpmsm.html#14b18793a93617fe48cd8aa5d584906e" title="Set mechanical and electrical variables.">set_parameters</a> ( S[<span class="stringliteral">"Rs"</span>], S[<span class="stringliteral">"Ls"</span>], 125e-6, S[<span class="stringliteral">"Fmag"</span>], S[<span class="stringliteral">"kp"</span>],  S[<span class="stringliteral">"p"</span>], \
74<a name="l00021"></a>00021                                 S[<span class="stringliteral">"J"</span>], 0.0 );
75<a name="l00022"></a>00022         };
76<a name="l00023"></a>00023         <span class="keyword">public</span>:
77<a name="l00024"></a>00024         UIpmsmIM():<a class="code" href="classbdm_1_1UIbuilder.html" title="Builds computational object from a UserInfo structure.">UIbuilder</a>(<span class="stringliteral">"pmsmIM"</span>){};
78<a name="l00025"></a>00025         <a class="code" href="classbdm_1_1bdmroot.html" title="Root class of BDM objects.">bdmroot</a>* <a class="code" href="classbdm_1_1UIbuilder.html#193cede6302669ff48dfd8ab3b7e31f8" title="Function building the computational object.">build</a> ( Setting &amp;S )<span class="keyword"> const </span>{
79<a name="l00026"></a>00026                 <a class="code" href="classIMpmsm.html" title="State evolution model for a PMSM drive and its derivative with respect to .">IMpmsm</a>* tmp;
80<a name="l00027"></a>00027                 <span class="comment">//Switch to variants</span>
81<a name="l00028"></a>00028                 <span class="keywordflow">if</span> (S.exists(<span class="stringliteral">"variant"</span>)){
82<a name="l00029"></a>00029                         <span class="keywordtype">string</span> var=S[<span class="stringliteral">"variant"</span>];
83<a name="l00030"></a>00030                         <span class="keywordflow">if</span> (var==<span class="stringliteral">"Stat"</span>){tmp=<span class="keyword">new</span> <a class="code" href="classIMpmsmStat.html" title="State evolution model for a PMSM drive and its derivative with respect to , equation...">IMpmsmStat</a>;}
84<a name="l00031"></a>00031                         <span class="keywordflow">if</span> (var==<span class="stringliteral">"2o"</span>){tmp=<span class="keyword">new</span> <a class="code" href="classIMpmsm2o.html" title="State evolution model for a PMSM drive and its derivative with respect to .">IMpmsm2o</a>;}
85<a name="l00032"></a>00032                         <span class="keywordflow">if</span> (var==<span class="stringliteral">"Mz"</span>){tmp=<span class="keyword">new</span> <a class="code" href="classIMpmsmMz.html" title="State for PMSM with unknown Mz.">IMpmsmMz</a>;}
86<a name="l00033"></a>00033                         <span class="keywordflow">if</span> (var==<span class="stringliteral">"StatMz"</span>){tmp=<span class="keyword">new</span> <a class="code" href="classIMpmsmStatMz.html" title="State for PMSM with unknown Mz.">IMpmsmStatMz</a>;}
87<a name="l00034"></a>00034                 } <span class="keywordflow">else</span> {
88<a name="l00035"></a>00035                         tmp= <span class="keyword">new</span> <a class="code" href="classIMpmsm.html" title="State evolution model for a PMSM drive and its derivative with respect to .">IMpmsm</a>;
89<a name="l00036"></a>00036                 }
90<a name="l00037"></a>00037                 <span class="comment">//Set parameters (recursively)</span>
91<a name="l00038"></a>00038                 UIcall&lt;IMpmsm*&gt; ( S[<span class="stringliteral">"params"</span>], &amp;tmp_set , tmp );
92<a name="l00039"></a>00039                 <span class="keywordflow">return</span> tmp;
93<a name="l00040"></a>00040         }       
94<a name="l00041"></a>00041 };
95<a name="l00042"></a>00042 UIREGISTER ( UIpmsmIM );
96<a name="l00043"></a>00043
97<a name="l00045"></a><a class="code" href="classUIpmsmOM.html">00045</a> <span class="keyword">class </span><a class="code" href="classUIpmsmOM.html" title="UI for pmsm observation model.">UIpmsmOM</a>: <span class="keyword">public</span> <a class="code" href="classbdm_1_1UIbuilder.html" title="Builds computational object from a UserInfo structure.">UIbuilder</a> {
98<a name="l00046"></a>00046         <span class="keyword">public</span>:
99<a name="l00047"></a>00047                 <a class="code" href="classUIpmsmOM.html" title="UI for pmsm observation model.">UIpmsmOM</a>():<a class="code" href="classbdm_1_1UIbuilder.html#c75103dd58395644e80f1eea886c656b" title="Constructor needs to be run only once macro UIREGISTER.">UIbuilder</a>(<span class="stringliteral">"pmsmOM"</span>){};
100<a name="l00048"></a><a class="code" href="classUIpmsmOM.html#3135772387690bf3196c13965d3eb903">00048</a>                 <a class="code" href="classbdm_1_1bdmroot.html" title="Root class of BDM objects.">bdmroot</a>* <a class="code" href="classUIpmsmOM.html#3135772387690bf3196c13965d3eb903" title="Function building the computational object.">build</a> ( Setting &amp;S )<span class="keyword"> const </span>{
101<a name="l00049"></a>00049                         <span class="keywordflow">return</span> <span class="keyword">new</span> <a class="code" href="classOMpmsm.html" title="Observation model for PMSM drive and its derivative with respect to .">OMpmsm</a>;
102<a name="l00050"></a>00050                 }       
103<a name="l00051"></a>00051 };
104<a name="l00052"></a>00052 UIREGISTER ( <a class="code" href="classUIpmsmOM.html" title="UI for pmsm observation model.">UIpmsmOM</a> );
105<a name="l00053"></a>00053
106<a name="l00054"></a>00054
107<a name="l00055"></a>00055 <span class="keyword">class </span>UIpmsmOM4: <span class="keyword">public</span> <a class="code" href="classbdm_1_1UIbuilder.html" title="Builds computational object from a UserInfo structure.">UIbuilder</a> {
108<a name="l00056"></a>00056         <span class="keyword">public</span>:
109<a name="l00057"></a>00057                 UIpmsmOM4():<a class="code" href="classbdm_1_1UIbuilder.html" title="Builds computational object from a UserInfo structure.">UIbuilder</a>(<span class="stringliteral">"pmsmOM4"</span>){};
110<a name="l00058"></a>00058                 <a class="code" href="classbdm_1_1bdmroot.html" title="Root class of BDM objects.">bdmroot</a>* <a class="code" href="classbdm_1_1UIbuilder.html#193cede6302669ff48dfd8ab3b7e31f8" title="Function building the computational object.">build</a> ( Setting &amp;S )<span class="keyword"> const </span>{
111<a name="l00059"></a>00059                         <span class="keywordflow">return</span> <span class="keyword">new</span> <a class="code" href="classOMpmsm4.html" title="Observation model for PMSM drive and its derivative with respect to  for full vector...">OMpmsm4</a>;
112<a name="l00060"></a>00060                 }       
113<a name="l00061"></a>00061 };
114<a name="l00062"></a>00062 UIREGISTER ( UIpmsmOM4 );
115<a name="l00063"></a>00063
116<a name="l00064"></a>00064
117<a name="l00066"></a><a class="code" href="classUIpmsmDS.html">00066</a> <span class="keyword">class </span><a class="code" href="classUIpmsmDS.html" title="UI for pmsmDS,.">UIpmsmDS</a>: <span class="keyword">public</span> <a class="code" href="classbdm_1_1UIbuilder.html" title="Builds computational object from a UserInfo structure.">UIbuilder</a> {
118<a name="l00067"></a>00067         <span class="keyword">static</span> <span class="keywordtype">void</span> tmp_set ( Setting &amp;S, <a class="code" href="classpmsmDS.html" title="Simulator of PMSM machine with predefined profile on omega.">pmsmDS</a>* <a class="code" href="classbdm_1_1DS.html" title="Abstract class for discrete-time sources of data.">DS</a> ) {
119<a name="l00068"></a>00068                 <span class="comment">//pmsmsim_set_parameters (( Rs0,  Ls0, Fmag0, Bf0, p0, kp0,  J0, Uc0, DT0,  dt0);</span>
120<a name="l00069"></a>00069                 DS-&gt;<a class="code" href="classpmsmDS.html#73073ee4f905af3f9f96a6130e9a9e22">set_parameters</a> ( S[<span class="stringliteral">"Rs"</span>], S[<span class="stringliteral">"Ls"</span>], S[<span class="stringliteral">"Fmag"</span>], S[<span class="stringliteral">"Bf"</span>], S[<span class="stringliteral">"p"</span>], S[<span class="stringliteral">"kp"</span>], \
121<a name="l00070"></a>00070                                      S[<span class="stringliteral">"J"</span>], S[<span class="stringliteral">"Uc"</span>], S[<span class="stringliteral">"DT"</span>], 1.0e-6 );
122<a name="l00071"></a>00071         };
123<a name="l00072"></a>00072 <span class="keyword">public</span>:
124<a name="l00073"></a>00073         <a class="code" href="classUIpmsmDS.html" title="UI for pmsmDS,.">UIpmsmDS</a>() :<a class="code" href="classbdm_1_1UIbuilder.html#c75103dd58395644e80f1eea886c656b" title="Constructor needs to be run only once macro UIREGISTER.">UIbuilder</a> ( <span class="stringliteral">"pmsmDS"</span> ) {};
125<a name="l00074"></a><a class="code" href="classUIpmsmDS.html#bccf3ecf6a270599c2d2fc1005ab13af">00074</a>         <a class="code" href="classbdm_1_1bdmroot.html" title="Root class of BDM objects.">bdmroot</a>* <a class="code" href="classUIpmsmDS.html#bccf3ecf6a270599c2d2fc1005ab13af" title="Function building the computational object.">build</a> ( Setting &amp;S )<span class="keyword"> const </span>{
126<a name="l00075"></a>00075                 <a class="code" href="classpmsmDS.html" title="Simulator of PMSM machine with predefined profile on omega.">pmsmDS</a>* tmp = <span class="keyword">new</span> <a class="code" href="classpmsmDS.html" title="Simulator of PMSM machine with predefined profile on omega.">pmsmDS</a> ( );
127<a name="l00076"></a>00076                 <span class="comment">//Calling function tmp-&gt;tmp_set</span>
128<a name="l00077"></a>00077                 UIcall&lt;pmsmDS*&gt; ( S[<span class="stringliteral">"params"</span>], &amp;tmp_set , tmp );
129<a name="l00078"></a>00078                 
130<a name="l00079"></a>00079                 <span class="comment">// Default values of profiles for omega and Mz</span>
131<a name="l00080"></a>00080                 vec profW=vec(<span class="stringliteral">"1.0"</span>);
132<a name="l00081"></a>00081                 vec profM=vec(<span class="stringliteral">"0.0"</span>);
133<a name="l00082"></a>00082                 <span class="keywordtype">double</span> tstep=1.0;
134<a name="l00083"></a>00083                 
135<a name="l00084"></a>00084                 <span class="keywordflow">if</span> ( S.exists ( <span class="stringliteral">"tstep"</span> ) ) {tstep=S[<span class="stringliteral">"tstep"</span>];}
136<a name="l00085"></a>00085                 <span class="keywordflow">if</span> ( S.exists ( <span class="stringliteral">"profileW"</span> ) ) {profW=getvec ( S[<span class="stringliteral">"profileW"</span>] ) ;}
137<a name="l00086"></a>00086                 <span class="keywordflow">if</span> ( S.exists ( <span class="stringliteral">"profileM"</span> ) ) {profM=getvec ( S[<span class="stringliteral">"profileM"</span>] ) ;}
138<a name="l00087"></a>00087                 
139<a name="l00088"></a>00088                 tmp-&gt;<a class="code" href="classpmsmDS.html#bcea4f040063f65ae39a4ca21f6aff1f">set_profile</a> (tstep , profW, profM);
140<a name="l00089"></a>00089                 
141<a name="l00090"></a>00090                 <span class="keywordtype">string</span> opts=<span class="stringliteral">""</span>;
142<a name="l00091"></a>00091                 <span class="keywordflow">if</span> ( S.exists ( <span class="stringliteral">"options"</span> ) ) {opts=(<span class="keyword">const</span> <span class="keywordtype">char</span>*)S[<span class="stringliteral">"options"</span>];}
143<a name="l00092"></a>00092                 tmp-&gt;<a class="code" href="classpmsmDS.html#75dd22db70746bfd0c3e685a17bbf34a" title="parse options: &amp;quot;modelu&amp;quot; =&amp;gt; opt_modu=true;">set_options</a>(opts);
144<a name="l00093"></a>00093                 
145<a name="l00094"></a>00094                 <span class="keywordflow">return</span> tmp;
146<a name="l00095"></a>00095         };
147<a name="l00096"></a>00096
148<a name="l00097"></a>00097 };
149<a name="l00098"></a>00098 UIREGISTER ( <a class="code" href="classUIpmsmDS.html" title="UI for pmsmDS,.">UIpmsmDS</a> );
150<a name="l00099"></a>00099
151<a name="l00100"></a>00100 <span class="keyword">class </span>UIpmsmCRB: <span class="keyword">public</span> <a class="code" href="classbdm_1_1UIbuilder.html" title="Builds computational object from a UserInfo structure.">UIbuilder</a> {
152<a name="l00101"></a>00101         <span class="keyword">public</span>:
153<a name="l00102"></a>00102                 UIpmsmCRB():<a class="code" href="classbdm_1_1UIbuilder.html" title="Builds computational object from a UserInfo structure.">UIbuilder</a>(<span class="stringliteral">"pmsmCRB"</span>){};
154<a name="l00103"></a>00103                 <a class="code" href="classbdm_1_1bdmroot.html" title="Root class of BDM objects.">bdmroot</a>* <a class="code" href="classbdm_1_1UIbuilder.html#193cede6302669ff48dfd8ab3b7e31f8" title="Function building the computational object.">build</a> ( Setting &amp;S )<span class="keyword"> const </span>{
155<a name="l00104"></a>00104                         <a class="code" href="classbdm_1_1diffbifn.html" title="Class representing a differentiable function of two variables .">diffbifn</a>* IM; UIbuild(S[<span class="stringliteral">"IM"</span>],IM);
156<a name="l00105"></a>00105                         <a class="code" href="classbdm_1_1diffbifn.html" title="Class representing a differentiable function of two variables .">diffbifn</a>* OM; UIbuild(S[<span class="stringliteral">"OM"</span>],OM);
157<a name="l00106"></a>00106                 
158<a name="l00107"></a>00107                 <span class="comment">//parameters</span>
159<a name="l00108"></a>00108                         <a class="code" href="classpmsmCRB.html" title="This class behaves like BM but it is evaluating EKF.">pmsmCRB</a>* E; E=<span class="keyword">new</span> <a class="code" href="classpmsmCRB.html" title="This class behaves like BM but it is evaluating EKF.">pmsmCRB</a>;
160<a name="l00109"></a>00109                 
161<a name="l00110"></a>00110                 <span class="comment">//statistics</span>
162<a name="l00111"></a>00111                         <span class="keywordtype">int</span> dim=IM-&gt;<a class="code" href="classbdm_1_1fnc.html#083832294da9d1e40804158b979c4341" title="access function">dimension</a>();
163<a name="l00112"></a>00112                         vec mu0;
164<a name="l00113"></a>00113                         mat P0;
165<a name="l00114"></a>00114                         <span class="keywordflow">if</span> (S.exists(<span class="stringliteral">"mu0"</span>)){mu0=getvec(S[<span class="stringliteral">"mu0"</span>]);}<span class="keywordflow">else</span>{mu0=<a class="code" href="group__specmat.html#g10723ecada06221cbe64fe2736a59de1" title="A Double (rows,cols)-matrix of zeros.">zeros</a>(dim);};
166<a name="l00115"></a>00115                         <span class="keywordflow">if</span> (S.exists(<span class="stringliteral">"dP0"</span>)){P0=<a class="code" href="group__diag.html#gb0938c932c1cbc19b2ce6c5ac1007553" title="Get the diagonal elements of the input matrix m.">diag</a>(getvec(S[<span class="stringliteral">"dP0"</span>]));}<span class="keywordflow">else</span>{
167<a name="l00116"></a>00116                                 <span class="keywordflow">if</span> (S.exists(<span class="stringliteral">"P0"</span>)){mu0=getmat(S[<span class="stringliteral">"P0"</span>],dim);}<span class="keywordflow">else</span>{P0=<a class="code" href="group__specmat.html#gbfc73e72a56769280cd9fda812367196" title="A non-copying version of the eye function.">eye</a>(dim);};
168<a name="l00117"></a>00117                         }
169<a name="l00118"></a>00118                         E-&gt;<a class="code" href="classbdm_1_1EKFfull.html#1949a9b1496a855cc7c24e619bc52365" title="set estimates">set_statistics</a>(mu0,P0);
170<a name="l00119"></a>00119                 
171<a name="l00120"></a>00120                         E-&gt;<a class="code" href="classbdm_1_1EKFfull.html#78748da361ba61fef162b0d8956d1743" title="Set nonlinear functions for mean values and covariance matrices.">set_parameters</a>(IM, OM, <a class="code" href="group__diag.html#gb0938c932c1cbc19b2ce6c5ac1007553" title="Get the diagonal elements of the input matrix m.">diag</a>(getvec(S[<span class="stringliteral">"dQ"</span>])), <a class="code" href="group__diag.html#gb0938c932c1cbc19b2ce6c5ac1007553" title="Get the diagonal elements of the input matrix m.">diag</a>(getvec(S[<span class="stringliteral">"dR"</span>])));
172<a name="l00121"></a>00121
173<a name="l00122"></a>00122                 <span class="comment">//connect</span>
174<a name="l00123"></a>00123                         <a class="code" href="classbdm_1_1RV.html" title="Class representing variables, most often random variables.">RV</a>* drv; UIbuild(S[<span class="stringliteral">"drv"</span>],drv);
175<a name="l00124"></a>00124                         E-&gt;<a class="code" href="classbdm_1_1BM.html#f135ae6dce7e9f30c9f88229c7930b96">set_drv</a>(*drv);
176<a name="l00125"></a>00125                         <a class="code" href="classbdm_1_1RV.html" title="Class representing variables, most often random variables.">RV</a>* rv; UIbuild(S[<span class="stringliteral">"rv"</span>],rv);
177<a name="l00126"></a>00126                         E-&gt;<a class="code" href="classbdm_1_1BM.html#b38d92f17620813ad872d86e01a26e5e">set_rv</a>(*rv);
178<a name="l00127"></a>00127                         <span class="keywordflow">return</span> E;
179<a name="l00128"></a>00128                 }       
180<a name="l00129"></a>00129 };
181<a name="l00130"></a>00130 UIREGISTER ( UIpmsmCRB );
182<a name="l00131"></a>00131
183<a name="l00132"></a>00132 <span class="keyword">class </span>UIpmsmCRBMz: <span class="keyword">public</span> <a class="code" href="classbdm_1_1UIbuilder.html" title="Builds computational object from a UserInfo structure.">UIbuilder</a> {
184<a name="l00133"></a>00133         <span class="keyword">public</span>:
185<a name="l00134"></a>00134                 UIpmsmCRBMz():<a class="code" href="classbdm_1_1UIbuilder.html" title="Builds computational object from a UserInfo structure.">UIbuilder</a>(<span class="stringliteral">"pmsmCRBMz"</span>){};
186<a name="l00135"></a>00135                 <a class="code" href="classbdm_1_1bdmroot.html" title="Root class of BDM objects.">bdmroot</a>* <a class="code" href="classbdm_1_1UIbuilder.html#193cede6302669ff48dfd8ab3b7e31f8" title="Function building the computational object.">build</a> ( Setting &amp;S )<span class="keyword"> const </span>{
187<a name="l00136"></a>00136                         <a class="code" href="classbdm_1_1diffbifn.html" title="Class representing a differentiable function of two variables .">diffbifn</a>* IM; UIbuild(S[<span class="stringliteral">"IM"</span>],IM);
188<a name="l00137"></a>00137                         <a class="code" href="classbdm_1_1diffbifn.html" title="Class representing a differentiable function of two variables .">diffbifn</a>* OM; UIbuild(S[<span class="stringliteral">"OM"</span>],OM);
189<a name="l00138"></a>00138                 
190<a name="l00139"></a>00139                 <span class="comment">//parameters</span>
191<a name="l00140"></a>00140                         <a class="code" href="classpmsmCRBMz.html" title="This class behaves like BM but it is evaluating EKF.">pmsmCRBMz</a>* E; E=<span class="keyword">new</span> <a class="code" href="classpmsmCRBMz.html" title="This class behaves like BM but it is evaluating EKF.">pmsmCRBMz</a>;
192<a name="l00141"></a>00141                 
193<a name="l00142"></a>00142                 <span class="comment">//statistics</span>
194<a name="l00143"></a>00143                         <span class="keywordtype">int</span> dim=IM-&gt;<a class="code" href="classbdm_1_1fnc.html#083832294da9d1e40804158b979c4341" title="access function">dimension</a>();
195<a name="l00144"></a>00144                         vec mu0;
196<a name="l00145"></a>00145                         mat P0;
197<a name="l00146"></a>00146                         <span class="keywordflow">if</span> (S.exists(<span class="stringliteral">"mu0"</span>)){mu0=getvec(S[<span class="stringliteral">"mu0"</span>]);}<span class="keywordflow">else</span>{mu0=<a class="code" href="group__specmat.html#g10723ecada06221cbe64fe2736a59de1" title="A Double (rows,cols)-matrix of zeros.">zeros</a>(dim);};
198<a name="l00147"></a>00147                         <span class="keywordflow">if</span> (S.exists(<span class="stringliteral">"dP0"</span>)){P0=<a class="code" href="group__diag.html#gb0938c932c1cbc19b2ce6c5ac1007553" title="Get the diagonal elements of the input matrix m.">diag</a>(getvec(S[<span class="stringliteral">"dP0"</span>]));}<span class="keywordflow">else</span>{
199<a name="l00148"></a>00148                                 <span class="keywordflow">if</span> (S.exists(<span class="stringliteral">"P0"</span>)){mu0=getmat(S[<span class="stringliteral">"P0"</span>],dim);}<span class="keywordflow">else</span>{P0=<a class="code" href="group__specmat.html#gbfc73e72a56769280cd9fda812367196" title="A non-copying version of the eye function.">eye</a>(dim);};
200<a name="l00149"></a>00149                         }
201<a name="l00150"></a>00150                         E-&gt;<a class="code" href="classbdm_1_1EKFfull.html#1949a9b1496a855cc7c24e619bc52365" title="set estimates">set_statistics</a>(mu0,P0);
202<a name="l00151"></a>00151                 
203<a name="l00152"></a>00152                         E-&gt;<a class="code" href="classbdm_1_1EKFfull.html#78748da361ba61fef162b0d8956d1743" title="Set nonlinear functions for mean values and covariance matrices.">set_parameters</a>(IM, OM, <a class="code" href="group__diag.html#gb0938c932c1cbc19b2ce6c5ac1007553" title="Get the diagonal elements of the input matrix m.">diag</a>(getvec(S[<span class="stringliteral">"dQ"</span>])), <a class="code" href="group__diag.html#gb0938c932c1cbc19b2ce6c5ac1007553" title="Get the diagonal elements of the input matrix m.">diag</a>(getvec(S[<span class="stringliteral">"dR"</span>])));
204<a name="l00153"></a>00153
205<a name="l00154"></a>00154                 <span class="comment">//connect</span>
206<a name="l00155"></a>00155                         <a class="code" href="classbdm_1_1RV.html" title="Class representing variables, most often random variables.">RV</a>* drv; UIbuild(S[<span class="stringliteral">"drv"</span>],drv);
207<a name="l00156"></a>00156                         E-&gt;<a class="code" href="classbdm_1_1BM.html#f135ae6dce7e9f30c9f88229c7930b96">set_drv</a>(*drv);
208<a name="l00157"></a>00157                         <a class="code" href="classbdm_1_1RV.html" title="Class representing variables, most often random variables.">RV</a>* rv; UIbuild(S[<span class="stringliteral">"rv"</span>],rv);
209<a name="l00158"></a>00158                         E-&gt;<a class="code" href="classbdm_1_1BM.html#b38d92f17620813ad872d86e01a26e5e">set_rv</a>(*rv);
210<a name="l00159"></a>00159                         <span class="keywordflow">return</span> E;
211<a name="l00160"></a>00160                 }       
212<a name="l00161"></a>00161 };
213<a name="l00162"></a>00162 UIREGISTER ( UIpmsmCRBMz );
214</pre></div></div>
215<hr size="1"><address style="text-align: right;"><small>Generated on Tue Jun 2 10:02:12 2009 for mixpp by&nbsp;
216<a href="http://www.doxygen.org/index.html">
217<img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.8 </small></address>
218</body>
219</html>
Note: See TracBrowser for help on using the browser.