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Matrix in Cholesky decomposition, Square-root Kalman and many bug fixes

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1\section{chmat Class Reference}
2\label{classchmat}\index{chmat@{chmat}}
3Symmetric matrix stored in square root decomposition using upper cholesky. 
4
5
6{\tt \#include $<$chmat.h$>$}
7
8Inheritance diagram for chmat:\nopagebreak
9\begin{figure}[H]
10\begin{center}
11\leavevmode
12\includegraphics[width=45pt]{classchmat__inherit__graph}
13\end{center}
14\end{figure}
15Collaboration diagram for chmat:\nopagebreak
16\begin{figure}[H]
17\begin{center}
18\leavevmode
19\includegraphics[width=45pt]{classchmat__coll__graph}
20\end{center}
21\end{figure}
22\subsection*{Public Member Functions}
23\begin{CompactItemize}
24\item 
25virtual void {\bf opupdt} (const vec \&v, double w)
26\item 
27virtual mat {\bf to\_\-mat} ()\label{classchmat_a37e2c726e4fc3ad50b26ac2ca6c1452}
28
29\begin{CompactList}\small\item\em Conversion to full matrix. \item\end{CompactList}\item 
30virtual void {\bf mult\_\-sym} (const mat \&C)
31\begin{CompactList}\small\item\em Inplace symmetric multiplication by a SQUARE matrix \$C\$, i.e. \$V = C$\ast$V$\ast$C'\$. \item\end{CompactList}\item 
32virtual void {\bf mult\_\-sym\_\-t} (const mat \&C)
33\begin{CompactList}\small\item\em Inplace symmetric multiplication by a SQUARE transpose of matrix \$C\$, i.e. \$V = C'$\ast$V$\ast$C\$. \item\end{CompactList}\item 
34virtual double {\bf logdet} () const \label{classchmat_b504ca818203b13e667cb3c503980382}
35
36\begin{CompactList}\small\item\em Logarithm of a determinant. \item\end{CompactList}\item 
37virtual vec {\bf sqrt\_\-mult} (const vec \&v) const
38\begin{CompactList}\small\item\em Multiplies square root of \$V\$ by vector \$x\$. \item\end{CompactList}\item 
39virtual double {\bf qform} (const vec \&v) const \label{classchmat_6807737c7ffdb7041256b51db7592248}
40
41\begin{CompactList}\small\item\em Evaluates quadratic form \$x= v'$\ast$V$\ast$v\$;. \item\end{CompactList}\item 
42virtual void {\bf clear} ()\label{classchmat_d0a995d312ecc11d3b43693f5e224ba9}
43
44\begin{CompactList}\small\item\em Clearing matrix so that it corresponds to zeros. \item\end{CompactList}\item 
45virtual void \textbf{inv} (mat \&Inv)\label{classchmat_9875dc244d23ccec039fd2e5447a9cf7}
46
47\item 
48virtual void \textbf{inv} ({\bf chmat} \&Inv)\label{classchmat_465a895ce060429a35ee451182aa546a}
49
50\item 
51virtual {\bf $\sim$chmat} ()\label{classchmat_ba62fbf7cb8e065a4f3d24457824e89b}
52
53\begin{CompactList}\small\item\em Destructor for future use;. \item\end{CompactList}\item 
54{\bf chmat} (const int dim0)\label{classchmat_fdd73b0c596161637fd25bdf2c670c39}
55
56\begin{CompactList}\small\item\em Default constructor. \item\end{CompactList}\item 
57{\bf chmat} (const mat \&M)\label{classchmat_8334a00f30f0a05f893c2aeec395ef10}
58
59\begin{CompactList}\small\item\em Default constructor (m3k:cholform). \item\end{CompactList}\item 
60mat \& {\bf \_\-Ch} ()\label{classchmat_9c50d31c999d85d8e9d8cf2b69b6ac8c}
61
62\begin{CompactList}\small\item\em Access function. \item\end{CompactList}\item 
63int {\bf cols} () const \label{classsqmat_ecc2e2540f95a04f4449842588170f5b}
64
65\begin{CompactList}\small\item\em Reimplementing common functions of mat: \doxyref{cols()}{p.}{classsqmat_ecc2e2540f95a04f4449842588170f5b}. \item\end{CompactList}\item 
66int {\bf rows} () const \label{classsqmat_071e80ced9cc3b8cbb360fa7462eb646}
67
68\begin{CompactList}\small\item\em Reimplementing common functions of mat: \doxyref{cols()}{p.}{classsqmat_ecc2e2540f95a04f4449842588170f5b}. \item\end{CompactList}\end{CompactItemize}
69\subsection*{Protected Attributes}
70\begin{CompactItemize}
71\item 
72mat {\bf Ch}\label{classchmat_95158bb150f5e7f939168abcd577fd9c}
73
74\begin{CompactList}\small\item\em Upper chollesky triangle of the matrix. \item\end{CompactList}\item 
75int {\bf dim}\label{classsqmat_0abed904bdc0882373ba9adba919689d}
76
77\begin{CompactList}\small\item\em dimension of the square matrix \item\end{CompactList}\end{CompactItemize}
78
79
80\subsection{Detailed Description}
81Symmetric matrix stored in square root decomposition using upper cholesky.
82
83This matrix represent \$A=Ch Ch'\$ where only the upper triangle is stored;
84
85\subsection{Member Function Documentation}
86\index{chmat@{chmat}!opupdt@{opupdt}}
87\index{opupdt@{opupdt}!chmat@{chmat}}
88\subsubsection{\setlength{\rightskip}{0pt plus 5cm}void chmat::opupdt (const vec \& {\em v}, double {\em w})\hspace{0.3cm}{\tt  [virtual]}}\label{classchmat_bbc2d98d7455b1f38828907d442836bf}
89
90
91Perfroms a rank-1 update by outer product of vectors: \$V = V + w v v'\$. \begin{Desc}
92\item[Parameters:]
93\begin{description}
94\item[{\em v}]Vector forming the outer product to be added \item[{\em w}]weight of updating; can be negative\end{description}
95\end{Desc}
96BLAS-2b operation.
97
98Implements {\bf sqmat} \doxyref{}{p.}{classsqmat_b223484796661f2dadb5607a86ce0581}.\index{chmat@{chmat}!mult_sym@{mult\_\-sym}}
99\index{mult_sym@{mult\_\-sym}!chmat@{chmat}}
100\subsubsection{\setlength{\rightskip}{0pt plus 5cm}void chmat::mult\_\-sym (const mat \& {\em C})\hspace{0.3cm}{\tt  [virtual]}}\label{classchmat_66f509f92b0ccf020e2a2a32566e0777}
101
102
103Inplace symmetric multiplication by a SQUARE matrix \$C\$, i.e. \$V = C$\ast$V$\ast$C'\$.
104
105\begin{Desc}
106\item[Parameters:]
107\begin{description}
108\item[{\em C}]multiplying matrix, \end{description}
109\end{Desc}
110
111
112Implements {\bf sqmat} \doxyref{}{p.}{classsqmat_60fbbfa9e483b8187c135f787ee53afa}.\index{chmat@{chmat}!mult_sym_t@{mult\_\-sym\_\-t}}
113\index{mult_sym_t@{mult\_\-sym\_\-t}!chmat@{chmat}}
114\subsubsection{\setlength{\rightskip}{0pt plus 5cm}void chmat::mult\_\-sym\_\-t (const mat \& {\em C})\hspace{0.3cm}{\tt  [virtual]}}\label{classchmat_07f50d1332b901eee962e8b1913102f7}
115
116
117Inplace symmetric multiplication by a SQUARE transpose of matrix \$C\$, i.e. \$V = C'$\ast$V$\ast$C\$.
118
119\begin{Desc}
120\item[Parameters:]
121\begin{description}
122\item[{\em C}]multiplying matrix, \end{description}
123\end{Desc}
124
125
126Implements {\bf sqmat} \doxyref{}{p.}{classsqmat_6909e906da17725b1b80f3cae7cf3325}.\index{chmat@{chmat}!sqrt_mult@{sqrt\_\-mult}}
127\index{sqrt_mult@{sqrt\_\-mult}!chmat@{chmat}}
128\subsubsection{\setlength{\rightskip}{0pt plus 5cm}vec chmat::sqrt\_\-mult (const vec \& {\em v}) const\hspace{0.3cm}{\tt  [inline, virtual]}}\label{classchmat_b22aa239dbaca33e3fb93b4f674d7051}
129
130
131Multiplies square root of \$V\$ by vector \$x\$.
132
133Used e.g. in generating normal samples.
134
135Implements {\bf sqmat} \doxyref{}{p.}{classsqmat_6b79438b5d7544a9c8e110a145355d8f}.
136
137The documentation for this class was generated from the following files:\begin{CompactItemize}
138\item 
139work/mixpp/bdm/math/{\bf chmat.h}\item 
140work/mixpp/bdm/math/chmat.cpp\end{CompactItemize}
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