| 1 | <?xml version='1.0' encoding='UTF-8' standalone='no'?> |
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| 2 | <doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6"> |
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| 3 | <compounddef id="KalmanSq_8m" kind="file"> |
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| 4 | <compoundname>KalmanSq.m</compoundname> |
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| 5 | <sectiondef kind="var"> |
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| 6 | <memberdef kind="variable" id="KalmanSq_8m_1dd98c59cfc7fe0f3cd188db34ae90188" prot="public" static="no" mutable="no"> |
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| 7 | <type></type> |
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| 8 | <definition>function[xtn, oRxn, ll]</definition> |
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| 9 | <argsstring>[xtn, oRxn, ll]</argsstring> |
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| 10 | <name>function</name> |
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| 11 | <initializer>KalmanSq(xt,yt,A,C,oRw,oRv,oRx) |
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| 12 | |
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| 13 | dimx = size(A,1)</initializer> |
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| 14 | <briefdescription> |
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| 15 | </briefdescription> |
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| 16 | <detaileddescription> |
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| 17 | </detaileddescription> |
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| 18 | <inbodydescription> |
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| 19 | </inbodydescription> |
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| 20 | <location file="/home/smidl/work/mixpp/matlab/KalmanSq.m" line="3" bodyfile="/home/smidl/work/mixpp/matlab/KalmanSq.m" bodystart="1" bodyend="-1"/> |
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| 21 | </memberdef> |
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| 22 | <memberdef kind="variable" id="KalmanSq_8m_1df26d1da0d47fcb0e8e553d651e3fac4" prot="public" static="no" mutable="no"> |
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| 23 | <type></type> |
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| 24 | <definition>dimy</definition> |
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| 25 | <argsstring></argsstring> |
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| 26 | <name>dimy</name> |
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| 27 | <initializer> size(C,1)</initializer> |
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| 28 | <briefdescription> |
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| 29 | </briefdescription> |
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| 30 | <detaileddescription> |
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| 31 | </detaileddescription> |
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| 32 | <inbodydescription> |
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| 33 | </inbodydescription> |
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| 34 | <location file="/home/smidl/work/mixpp/matlab/KalmanSq.m" line="4" bodyfile="/home/smidl/work/mixpp/matlab/KalmanSq.m" bodystart="4" bodyend="-1"/> |
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| 35 | </memberdef> |
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| 36 | <memberdef kind="variable" id="KalmanSq_8m_1ad05f78187c942f9dd521605fa81f1ba" prot="public" static="no" mutable="no"> |
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| 37 | <type></type> |
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| 38 | <definition>M</definition> |
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| 39 | <argsstring></argsstring> |
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| 40 | <name>M</name> |
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| 41 | <initializer> [oRv C*oRx zeros(dimy,dimx)</initializer> |
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| 42 | <briefdescription> |
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| 43 | </briefdescription> |
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| 44 | <detaileddescription> |
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| 45 | </detaileddescription> |
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| 46 | <inbodydescription> |
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| 47 | </inbodydescription> |
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| 48 | <location file="/home/smidl/work/mixpp/matlab/KalmanSq.m" line="6" bodyfile="/home/smidl/work/mixpp/matlab/KalmanSq.m" bodystart="6" bodyend="-1"/> |
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| 49 | </memberdef> |
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| 50 | <memberdef kind="variable" id="KalmanSq_8m_18e65f1fdd0e1d957735bb841b994a4a1" prot="public" static="no" mutable="no"> |
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| 51 | <type></type> |
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| 52 | <definition>al</definition> |
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| 53 | <argsstring></argsstring> |
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| 54 | <name>al</name> |
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| 55 | <initializer>qr(M') r(1:2,end)</initializer> |
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| 56 | <briefdescription> |
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| 57 | </briefdescription> |
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| 58 | <detaileddescription> |
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| 59 | </detaileddescription> |
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| 60 | <inbodydescription> |
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| 61 | </inbodydescription> |
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| 62 | <location file="/home/smidl/work/mixpp/matlab/KalmanSq.m" line="11" bodyfile="/home/smidl/work/mixpp/matlab/KalmanSq.m" bodystart="11" bodyend="-1"/> |
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| 63 | </memberdef> |
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| 64 | <memberdef kind="variable" id="KalmanSq_8m_11364cba01e0ee80ef4381175bd6cf0d3" prot="public" static="no" mutable="no"> |
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| 65 | <type></type> |
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| 66 | <definition>be</definition> |
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| 67 | <argsstring></argsstring> |
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| 68 | <name>be</name> |
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| 69 | <initializer> r(3:4,end)</initializer> |
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| 70 | <briefdescription> |
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| 71 | </briefdescription> |
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| 72 | <detaileddescription> |
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| 73 | </detaileddescription> |
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| 74 | <inbodydescription> |
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| 75 | </inbodydescription> |
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| 76 | <location file="/home/smidl/work/mixpp/matlab/KalmanSq.m" line="12" bodyfile="/home/smidl/work/mixpp/matlab/KalmanSq.m" bodystart="12" bodyend="-1"/> |
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| 77 | </memberdef> |
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| 78 | <memberdef kind="variable" id="KalmanSq_8m_1f0b469af4c14c5b4b1e48c82e6e908b6" prot="public" static="no" mutable="no"> |
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| 79 | <type></type> |
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| 80 | <definition>oRxn</definition> |
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| 81 | <argsstring></argsstring> |
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| 82 | <name>oRxn</name> |
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| 83 | <initializer> r(dimy+1:dimy+dimx, dimy+1:dimy+dimx)</initializer> |
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| 84 | <briefdescription> |
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| 85 | </briefdescription> |
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| 86 | <detaileddescription> |
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| 87 | </detaileddescription> |
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| 88 | <inbodydescription> |
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| 89 | </inbodydescription> |
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| 90 | <location file="/home/smidl/work/mixpp/matlab/KalmanSq.m" line="14" bodyfile="/home/smidl/work/mixpp/matlab/KalmanSq.m" bodystart="14" bodyend="-1"/> |
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| 91 | </memberdef> |
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| 92 | <memberdef kind="variable" id="KalmanSq_8m_1c34811bbdbe0147bd1c59a5aced7db9f" prot="public" static="no" mutable="no"> |
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| 93 | <type></type> |
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| 94 | <definition>xtn</definition> |
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| 95 | <argsstring></argsstring> |
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| 96 | <name>xtn</name> |
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| 97 | <initializer> oRxn'*be</initializer> |
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| 98 | <briefdescription> |
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| 99 | </briefdescription> |
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| 100 | <detaileddescription> |
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| 101 | </detaileddescription> |
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| 102 | <inbodydescription> |
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| 103 | </inbodydescription> |
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| 104 | <location file="/home/smidl/work/mixpp/matlab/KalmanSq.m" line="15" bodyfile="/home/smidl/work/mixpp/matlab/KalmanSq.m" bodystart="15" bodyend="-1"/> |
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| 105 | </memberdef> |
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| 106 | <memberdef kind="variable" id="KalmanSq_8m_1562b530cff1f5bca3b1a4c1ad4ad9962" prot="public" static="no" mutable="no"> |
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| 107 | <type></type> |
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| 108 | <definition>ll</definition> |
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| 109 | <argsstring></argsstring> |
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| 110 | <name>ll</name> |
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| 111 | <initializer>0</initializer> |
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| 112 | <briefdescription> |
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| 113 | </briefdescription> |
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| 114 | <detaileddescription> |
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| 115 | </detaileddescription> |
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| 116 | <inbodydescription> |
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| 117 | </inbodydescription> |
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| 118 | <location file="/home/smidl/work/mixpp/matlab/KalmanSq.m" line="17" bodyfile="/home/smidl/work/mixpp/matlab/KalmanSq.m" bodystart="17" bodyend="-1"/> |
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| 119 | </memberdef> |
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| 120 | </sectiondef> |
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| 121 | <sectiondef kind="func"> |
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| 122 | <memberdef kind="function" id="KalmanSq_8m_1a342c11652cfeecbea3be14f4a7527c3" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual"> |
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| 123 | <type></type> |
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| 124 | <definition>zeros</definition> |
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| 125 | <argsstring>(dimx, dimy) A *oRx oRw</argsstring> |
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| 126 | <name>zeros</name> |
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| 127 | <param> |
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| 128 | <type>dimx</type> |
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| 129 | </param> |
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| 130 | <param> |
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| 131 | <type>dimy</type> |
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| 132 | </param> |
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| 133 | <briefdescription> |
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| 134 | </briefdescription> |
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| 135 | <detaileddescription> |
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| 136 | </detaileddescription> |
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| 137 | <inbodydescription> |
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| 138 | </inbodydescription> |
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| 139 | <location file="/home/smidl/work/mixpp/matlab/KalmanSq.m" line="7"/> |
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| 140 | </memberdef> |
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| 141 | <memberdef kind="function" id="KalmanSq_8m_179b486dabafd57601aa38e2f44234d0d" prot="public" static="no" const="no" explicit="no" inline="no" virt="virtual"> |
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| 142 | <type>1, dimx</type> |
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| 143 | <definition>1,dimx zeros</definition> |
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| 144 | <argsstring>()</argsstring> |
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| 145 | <name>zeros</name> |
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| 146 | <briefdescription> |
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| 147 | </briefdescription> |
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| 148 | <detaileddescription> |
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| 149 | </detaileddescription> |
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| 150 | <inbodydescription> |
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| 151 | </inbodydescription> |
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| 152 | <location file="/home/smidl/work/mixpp/matlab/KalmanSq.m" line="8"/> |
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| 153 | </memberdef> |
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| 154 | </sectiondef> |
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| 155 | <briefdescription> |
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| 156 | </briefdescription> |
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| 157 | <detaileddescription> |
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| 158 | </detaileddescription> |
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| 159 | <programlisting> |
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| 160 | <codeline lineno="1"><highlight class="normal">function<sp/>[xtn,oRxn,ll]=KalmanSq(xt,yt,A,C,oRw,oRv,oRx)</highlight></codeline> |
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| 161 | <codeline lineno="2"><highlight class="normal"></highlight></codeline> |
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| 162 | <codeline lineno="3"><highlight class="normal">dimx<sp/>=<sp/>size(A,1);</highlight></codeline> |
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| 163 | <codeline lineno="4"><highlight class="normal">dimy<sp/>=<sp/>size(C,1);</highlight></codeline> |
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| 164 | <codeline lineno="5"><highlight class="normal"></highlight></codeline> |
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| 165 | <codeline lineno="6"><highlight class="normal">M<sp/>=<sp/>[oRv<sp/>C*oRx<sp/>zeros(dimy,dimx);</highlight></codeline> |
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| 166 | <codeline lineno="7"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>zeros(dimx,dimy)<sp/>A*oRx<sp/>oRw;</highlight></codeline> |
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| 167 | <codeline lineno="8"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>-yt'*inv(oRv')<sp/>xt'*inv(oRx')<sp/>zeros(1,dimx)];</highlight></codeline> |
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| 168 | <codeline lineno="9"><highlight class="normal"></highlight></codeline> |
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| 169 | <codeline lineno="10"><highlight class="normal">[q,r]=qr(M');</highlight></codeline> |
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| 170 | <codeline lineno="11"><highlight class="normal">al<sp/>=<sp/>r(1:2,end);</highlight></codeline> |
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| 171 | <codeline lineno="12"><highlight class="normal">be<sp/>=<sp/>r(3:4,end);</highlight></codeline> |
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| 172 | <codeline lineno="13"><highlight class="normal"></highlight></codeline> |
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| 173 | <codeline lineno="14"><highlight class="normal">oRxn<sp/>=<sp/>r(dimy+1:dimy+dimx,<sp/>dimy+1:dimy+dimx);</highlight></codeline> |
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| 174 | <codeline lineno="15"><highlight class="normal">xtn<sp/>=<sp/>oRxn'*be;</highlight></codeline> |
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| 175 | <codeline lineno="16"><highlight class="normal"></highlight></codeline> |
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| 176 | <codeline lineno="17"><highlight class="normal">ll=0;</highlight></codeline> |
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| 177 | <codeline lineno="18"><highlight class="normal">%keyboard</highlight></codeline> |
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| 178 | </programlisting> |
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| 179 | <location file="/home/smidl/work/mixpp/matlab/KalmanSq.m"/> |
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| 180 | </compounddef> |
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| 181 | </doxygen> |
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