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1<?xml version='1.0' encoding='UTF-8' standalone='no'?>
2<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
3  <compounddef id="classEKFful__unQR" kind="class" prot="public">
4    <compoundname>EKFful_unQR</compoundname>
5    <basecompoundref refid="classEKFfull" prot="public" virt="non-virtual">EKFfull</basecompoundref>
6    <basecompoundref refid="classBMcond" prot="public" virt="non-virtual">BMcond</basecompoundref>
7    <includes refid="ekf__templ_8h" local="no">ekf_templ.h</includes>
8      <sectiondef kind="public-func">
9      <memberdef kind="function" id="classEKFful__unQR_1873e3a72264f6e777c4443220db15d79" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
10        <type></type>
11        <definition>EKFful_unQR::EKFful_unQR</definition>
12        <argsstring>(RV rx, RV ry, RV ru, RV rQR)</argsstring>
13        <name>EKFful_unQR</name>
14        <param>
15          <type><ref refid="classRV" kindref="compound">RV</ref></type>
16          <declname>rx</declname>
17        </param>
18        <param>
19          <type><ref refid="classRV" kindref="compound">RV</ref></type>
20          <declname>ry</declname>
21        </param>
22        <param>
23          <type><ref refid="classRV" kindref="compound">RV</ref></type>
24          <declname>ru</declname>
25        </param>
26        <param>
27          <type><ref refid="classRV" kindref="compound">RV</ref></type>
28          <declname>rQR</declname>
29        </param>
30        <briefdescription>
31<para>Default constructor. </para>        </briefdescription>
32        <detaileddescription>
33        </detaileddescription>
34        <inbodydescription>
35        </inbodydescription>
36        <location file="/home/smidl/work/git/mixpp/bdm/estim/ekf_templ.h" line="24" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/ekf_templ.h" bodystart="24" bodyend="24"/>
37      </memberdef>
38      <memberdef kind="function" id="classEKFful__unQR_1b586e534c8a8d219561b0c020329d412" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
39        <type>void</type>
40        <definition>void EKFful_unQR::condition</definition>
41        <argsstring>(const vec &amp;QR0)</argsstring>
42        <name>condition</name>
43        <reimplements refid="classBMcond_13543cfe274c35f9033c24d8036a96c4d">condition</reimplements>
44        <param>
45          <type>const vec &amp;</type>
46          <declname>val</declname>
47        </param>
48        <briefdescription>
49<para>Substitute <computeroutput>val</computeroutput> for <computeroutput>rvc</computeroutput>. </para>        </briefdescription>
50        <detaileddescription>
51        </detaileddescription>
52        <inbodydescription>
53        </inbodydescription>
54        <location file="/home/smidl/work/git/mixpp/bdm/estim/ekf_templ.h" line="25" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/ekf_templ.h" bodystart="25" bodyend="28"/>
55      </memberdef>
56      <memberdef kind="function" id="classEKFfull_1fc753106e0d4cf68e4f2160fd54458c0" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
57        <type>void</type>
58        <definition>void EKFfull::set_parameters</definition>
59        <argsstring>(diffbifn *pfxu, diffbifn *phxu, const mat Q0, const mat R0)</argsstring>
60        <name>set_parameters</name>
61        <param>
62          <type><ref refid="classdiffbifn" kindref="compound">diffbifn</ref> *</type>
63          <declname>pfxu</declname>
64        </param>
65        <param>
66          <type><ref refid="classdiffbifn" kindref="compound">diffbifn</ref> *</type>
67          <declname>phxu</declname>
68        </param>
69        <param>
70          <type>const mat</type>
71          <declname>Q0</declname>
72        </param>
73        <param>
74          <type>const mat</type>
75          <declname>R0</declname>
76        </param>
77        <briefdescription>
78<para>Set nonlinear functions for mean values and covariance matrices. </para>        </briefdescription>
79        <detaileddescription>
80        </detaileddescription>
81        <inbodydescription>
82        </inbodydescription>
83        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="182" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.cpp" bodystart="66" bodyend="84"/>
84        <references refid="classdiffbifn_1fc8779acbff170611aff0ee70cee3879" compoundref="libFN_8h" startline="93" endline="93">diffbifn::_dimu</references>
85        <references refid="classfnc_1a8891973d0ca48ce38e1886df45ca298" compoundref="libBM_8h" startline="126" endline="126">fnc::_dimy</references>
86        <references refid="classRV_1f5c7b8bd589eef09ccdf3329a0addea0" compoundref="libBM_8h" startline="69" endline="69">RV::count</references>
87        <references refid="classdiffbifn_16d217a02d4fa13931258d4bebdd0feb4" compoundref="libFN_8h" startline="85" endline="85">diffbifn::dfdx_cond</references>
88        <references refid="classKalmanFull_1fb5aec635e2720cc5ac31bc01c18a68a" compoundref="libKF_8h" startline="37">KalmanFull::mu</references>
89        <references refid="classBM_1af00f0612fabe66241dd507188cdbf88" compoundref="libBM_8h" startline="264">BM::rv</references>
90        <referencedby refid="sim__var_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" compoundref="sim__var_8cpp" startline="28" endline="166">main</referencedby>
91      </memberdef>
92      <memberdef kind="function" id="classEKFfull_18ca46f177e395fa714bbd8bd29ea43e0" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
93        <type>void</type>
94        <definition>void EKFfull::bayes</definition>
95        <argsstring>(const vec &amp;dt)</argsstring>
96        <name>bayes</name>
97        <reimplements refid="classKalmanFull_113a041cd98ff157703766be275a657bb">bayes</reimplements>
98        <param>
99          <type>const vec &amp;</type>
100          <declname>dt</declname>
101        </param>
102        <briefdescription>
103<para>Here dt = [yt;ut] of appropriate dimensions. </para>        </briefdescription>
104        <detaileddescription>
105        </detaileddescription>
106        <inbodydescription>
107        </inbodydescription>
108        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="184" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.cpp" bodystart="86" bodyend="114"/>
109        <references refid="classdiffbifn_16d217a02d4fa13931258d4bebdd0feb4" compoundref="libFN_8h" startline="85" endline="85">diffbifn::dfdx_cond</references>
110        <references refid="classdiffbifn_1ad7673e16aa1a046b131b24c731c4632" compoundref="libFN_8h" startline="76" endline="80">diffbifn::eval</references>
111        <references refid="classBM_1bf6fb59b30141074f8ee1e2f43d03129" compoundref="libBM_8h" startline="268">BM::evalll</references>
112        <references refid="classBM_15623fef6572a08c2b53b8c87b82dc979" compoundref="libBM_8h" startline="266">BM::ll</references>
113        <references refid="classKalmanFull_1fb5aec635e2720cc5ac31bc01c18a68a" compoundref="libKF_8h" startline="37">KalmanFull::mu</references>
114        <references refid="classKalmanFull_1b75dc059e84fa8ffc076203b30f926cc" compoundref="libKF_8h" startline="39">KalmanFull::P</references>
115        <references refid="classenorm_1d892a38f03be12e572ea57d9689cef6b" compoundref="libEF_8h" startline="103" endline="103">enorm&lt; sq_T &gt;::set_mu</references>
116        <referencedby refid="sim__var_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" compoundref="sim__var_8cpp" startline="28" endline="166">main</referencedby>
117      </memberdef>
118      <memberdef kind="function" id="classBM_187b07867fd4c133aa89a18543f68d9f9" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
119        <type>void</type>
120        <definition>void BM::bayes</definition>
121        <argsstring>(mat Dt)</argsstring>
122        <name>bayes</name>
123        <param>
124          <type>mat</type>
125          <declname>Dt</declname>
126        </param>
127        <briefdescription>
128<para>Batch Bayes rule (columns of Dt are observations). </para>        </briefdescription>
129        <detaileddescription>
130        </detaileddescription>
131        <inbodydescription>
132        </inbodydescription>
133        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="280"/>
134      </memberdef>
135      <memberdef kind="function" id="classEKFfull_17bb76ea74c144ea0b36db99f94750b7b" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
136        <type>void</type>
137        <definition>void EKFfull::set_est</definition>
138        <argsstring>(vec mu0, mat P0)</argsstring>
139        <name>set_est</name>
140        <param>
141          <type>vec</type>
142          <declname>mu0</declname>
143        </param>
144        <param>
145          <type>mat</type>
146          <declname>P0</declname>
147        </param>
148        <briefdescription>
149<para>set estimates </para>        </briefdescription>
150        <detaileddescription>
151        </detaileddescription>
152        <inbodydescription>
153        </inbodydescription>
154        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="186" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="186" bodyend="186"/>
155        <references refid="classKalmanFull_1fb5aec635e2720cc5ac31bc01c18a68a" compoundref="libKF_8h" startline="37">KalmanFull::mu</references>
156        <references refid="classKalmanFull_1b75dc059e84fa8ffc076203b30f926cc" compoundref="libKF_8h" startline="39">KalmanFull::P</references>
157        <referencedby refid="sim__var_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" compoundref="sim__var_8cpp" startline="28" endline="166">main</referencedby>
158      </memberdef>
159      <memberdef kind="function" id="classEKFfull_14080d68f79dade36ccf547d57e64bdc2" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
160        <type><ref refid="classepdf" kindref="compound">epdf</ref> &amp;</type>
161        <definition>epdf&amp; EKFfull::_epdf</definition>
162        <argsstring>()</argsstring>
163        <name>_epdf</name>
164        <reimplements refid="classBM_13dc45554556926bde996a267636abe55">_epdf</reimplements>
165        <briefdescription>
166<para>dummy! </para>        </briefdescription>
167        <detaileddescription>
168        </detaileddescription>
169        <inbodydescription>
170        </inbodydescription>
171        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="188" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="188" bodyend="188"/>
172        <referencedby refid="sim__var_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" compoundref="sim__var_8cpp" startline="28" endline="166">main</referencedby>
173      </memberdef>
174      <memberdef kind="function" id="classBM_1126bd2595c48e311fc2a7ab72876092a" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
175        <type>const <ref refid="classRV" kindref="compound">RV</ref> &amp;</type>
176        <definition>const RV&amp; BM::_rv</definition>
177        <argsstring>() const </argsstring>
178        <name>_rv</name>
179        <briefdescription>
180<para>access function </para>        </briefdescription>
181        <detaileddescription>
182        </detaileddescription>
183        <inbodydescription>
184        </inbodydescription>
185        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="287" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="287" bodyend="287"/>
186        <references refid="classBM_1af00f0612fabe66241dd507188cdbf88" compoundref="libBM_8h" startline="264">BM::rv</references>
187      </memberdef>
188      <memberdef kind="function" id="classBM_187f4a547d2c29180be88175e5eab9c88" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
189        <type>double</type>
190        <definition>double BM::_ll</definition>
191        <argsstring>() const </argsstring>
192        <name>_ll</name>
193        <briefdescription>
194<para>access function </para>        </briefdescription>
195        <detaileddescription>
196        </detaileddescription>
197        <inbodydescription>
198        </inbodydescription>
199        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="289" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="289" bodyend="289"/>
200        <references refid="classBM_15623fef6572a08c2b53b8c87b82dc979" compoundref="libBM_8h" startline="266">BM::ll</references>
201      </memberdef>
202      <memberdef kind="function" id="classBMcond_13fa60348b2da6b4208bb95b8d146900a" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
203        <type>const <ref refid="classRV" kindref="compound">RV</ref> &amp;</type>
204        <definition>const RV&amp; BMcond::_rvc</definition>
205        <argsstring>() const </argsstring>
206        <name>_rvc</name>
207        <briefdescription>
208<para>access function </para>        </briefdescription>
209        <detaileddescription>
210        </detaileddescription>
211        <inbodydescription>
212        </inbodydescription>
213        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="313" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="313" bodyend="313"/>
214        <references refid="classBMcond_19ba793c8ec453f04d372d17195ed8dec" compoundref="libBM_8h" startline="304">BMcond::rvc</references>
215      </memberdef>
216      </sectiondef>
217      <sectiondef kind="protected-attrib">
218      <memberdef kind="variable" id="classKalmanFull_1c5353e66238ed717dba79e0499118226" prot="protected" static="no" mutable="no">
219        <type>int</type>
220        <definition>int KalmanFull::dimx</definition>
221        <argsstring></argsstring>
222        <name>dimx</name>
223        <briefdescription>
224        </briefdescription>
225        <detaileddescription>
226        </detaileddescription>
227        <inbodydescription>
228        </inbodydescription>
229        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="29" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="29" bodyend="-1"/>
230      </memberdef>
231      <memberdef kind="variable" id="classKalmanFull_1761fadcc12dd4cb83bb8b5e27db01947" prot="protected" static="no" mutable="no">
232        <type>int</type>
233        <definition>int KalmanFull::dimy</definition>
234        <argsstring></argsstring>
235        <name>dimy</name>
236        <briefdescription>
237        </briefdescription>
238        <detaileddescription>
239        </detaileddescription>
240        <inbodydescription>
241        </inbodydescription>
242        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="29" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="29" bodyend="-1"/>
243      </memberdef>
244      <memberdef kind="variable" id="classKalmanFull_1609a4a0fcde78fd7aac2f01b34e952c9" prot="protected" static="no" mutable="no">
245        <type>int</type>
246        <definition>int KalmanFull::dimu</definition>
247        <argsstring></argsstring>
248        <name>dimu</name>
249        <briefdescription>
250        </briefdescription>
251        <detaileddescription>
252        </detaileddescription>
253        <inbodydescription>
254        </inbodydescription>
255        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="29" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="29" bodyend="-1"/>
256      </memberdef>
257      <memberdef kind="variable" id="classKalmanFull_1554de4c953761380cd5a14a02542e007" prot="protected" static="no" mutable="no">
258        <type>mat</type>
259        <definition>mat KalmanFull::A</definition>
260        <argsstring></argsstring>
261        <name>A</name>
262        <briefdescription>
263        </briefdescription>
264        <detaileddescription>
265        </detaileddescription>
266        <inbodydescription>
267        </inbodydescription>
268        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="30" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="30" bodyend="-1"/>
269      </memberdef>
270      <memberdef kind="variable" id="classKalmanFull_1ac7ade2a603a1b05419e36c5aae21755" prot="protected" static="no" mutable="no">
271        <type>mat</type>
272        <definition>mat KalmanFull::B</definition>
273        <argsstring></argsstring>
274        <name>B</name>
275        <briefdescription>
276        </briefdescription>
277        <detaileddescription>
278        </detaileddescription>
279        <inbodydescription>
280        </inbodydescription>
281        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="30" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="30" bodyend="-1"/>
282      </memberdef>
283      <memberdef kind="variable" id="classKalmanFull_15a9a8326ae17b519109fcdad59ea74a3" prot="protected" static="no" mutable="no">
284        <type>mat</type>
285        <definition>mat KalmanFull::C</definition>
286        <argsstring></argsstring>
287        <name>C</name>
288        <briefdescription>
289        </briefdescription>
290        <detaileddescription>
291        </detaileddescription>
292        <inbodydescription>
293        </inbodydescription>
294        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="30" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="30" bodyend="-1"/>
295      </memberdef>
296      <memberdef kind="variable" id="classKalmanFull_18f992a2d6b66d2e8bd9174b28cc0f074" prot="protected" static="no" mutable="no">
297        <type>mat</type>
298        <definition>mat KalmanFull::D</definition>
299        <argsstring></argsstring>
300        <name>D</name>
301        <briefdescription>
302        </briefdescription>
303        <detaileddescription>
304        </detaileddescription>
305        <inbodydescription>
306        </inbodydescription>
307        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="30" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="30" bodyend="-1"/>
308      </memberdef>
309      <memberdef kind="variable" id="classKalmanFull_1bbd2dab10da47237a5f0d9e55fd61f24" prot="protected" static="no" mutable="no">
310        <type>mat</type>
311        <definition>mat KalmanFull::R</definition>
312        <argsstring></argsstring>
313        <name>R</name>
314        <briefdescription>
315        </briefdescription>
316        <detaileddescription>
317        </detaileddescription>
318        <inbodydescription>
319        </inbodydescription>
320        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="30" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="30" bodyend="-1"/>
321      </memberdef>
322      <memberdef kind="variable" id="classKalmanFull_1a8777c1fe67763395d3ddeb326239851" prot="protected" static="no" mutable="no">
323        <type>mat</type>
324        <definition>mat KalmanFull::Q</definition>
325        <argsstring></argsstring>
326        <name>Q</name>
327        <briefdescription>
328        </briefdescription>
329        <detaileddescription>
330        </detaileddescription>
331        <inbodydescription>
332        </inbodydescription>
333        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="30" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="30" bodyend="-1"/>
334      </memberdef>
335      <memberdef kind="variable" id="classKalmanFull_1905823cf4157a11b8b824e45809dac55" prot="protected" static="no" mutable="no">
336        <type>mat</type>
337        <definition>mat KalmanFull::_Pp</definition>
338        <argsstring></argsstring>
339        <name>_Pp</name>
340        <briefdescription>
341        </briefdescription>
342        <detaileddescription>
343        </detaileddescription>
344        <inbodydescription>
345        </inbodydescription>
346        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="33" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="33" bodyend="-1"/>
347      </memberdef>
348      <memberdef kind="variable" id="classKalmanFull_1b1b946b3a43f7d86cf4b6dc0dd6e3210" prot="protected" static="no" mutable="no">
349        <type>mat</type>
350        <definition>mat KalmanFull::_Ry</definition>
351        <argsstring></argsstring>
352        <name>_Ry</name>
353        <briefdescription>
354        </briefdescription>
355        <detaileddescription>
356        </detaileddescription>
357        <inbodydescription>
358        </inbodydescription>
359        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="33" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="33" bodyend="-1"/>
360      </memberdef>
361      <memberdef kind="variable" id="classKalmanFull_1c7d915386a9d60b1bc309ae9166764f6" prot="protected" static="no" mutable="no">
362        <type>mat</type>
363        <definition>mat KalmanFull::_iRy</definition>
364        <argsstring></argsstring>
365        <name>_iRy</name>
366        <briefdescription>
367        </briefdescription>
368        <detaileddescription>
369        </detaileddescription>
370        <inbodydescription>
371        </inbodydescription>
372        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="33" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="33" bodyend="-1"/>
373      </memberdef>
374      <memberdef kind="variable" id="classKalmanFull_14c8354ea4801529f3071189ddd10d760" prot="protected" static="no" mutable="no">
375        <type>mat</type>
376        <definition>mat KalmanFull::_K</definition>
377        <argsstring></argsstring>
378        <name>_K</name>
379        <briefdescription>
380        </briefdescription>
381        <detaileddescription>
382        </detaileddescription>
383        <inbodydescription>
384        </inbodydescription>
385        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="33" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="33" bodyend="-1"/>
386      </memberdef>
387      <memberdef kind="variable" id="classBM_1bf6fb59b30141074f8ee1e2f43d03129" prot="protected" static="no" mutable="no">
388        <type>bool</type>
389        <definition>bool BM::evalll</definition>
390        <argsstring></argsstring>
391        <name>evalll</name>
392        <briefdescription>
393<para>If true, the filter will compute likelihood of the data record and store it in <computeroutput>ll</computeroutput> . Set to false if you want to save time. </para>        </briefdescription>
394        <detaileddescription>
395        </detaileddescription>
396        <inbodydescription>
397        </inbodydescription>
398        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="268" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="268" bodyend="-1"/>
399        <referencedby refid="classEKFfixed_1ddf5334bc1207658fd53698fffbac028" compoundref="ekf__obj_8cpp" startline="10" endline="38">EKFfixed::bayes</referencedby>
400        <referencedby refid="classEKF_1c79c62c9b3e0b56b3aaa1b6f1d9a7af7" compoundref="libKF_8h" startline="364" endline="396">EKF&lt; sq_T &gt;::bayes</referencedby>
401        <referencedby refid="classKalman_17750ffd73f261828a32c18aaeb65c75c" compoundref="libKF_8h" startline="302" endline="337">Kalman&lt; sq_T &gt;::bayes</referencedby>
402        <referencedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" compoundref="libKF_8cpp" startline="189" endline="236">EKFCh::bayes</referencedby>
403        <referencedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" compoundref="libKF_8cpp" startline="128" endline="162">KalmanCh::bayes</referencedby>
404        <referencedby refid="classEKFfull_18ca46f177e395fa714bbd8bd29ea43e0" compoundref="libKF_8cpp" startline="86" endline="114">EKFfull::bayes</referencedby>
405        <referencedby refid="classARX_1ba82c956ca893826811aefe1e4af465d" compoundref="bdm_2estim_2arx_8cpp" startline="5" endline="24">ARX::bayes</referencedby>
406      </memberdef>
407      <memberdef kind="variable" id="classBM_15623fef6572a08c2b53b8c87b82dc979" prot="protected" static="no" mutable="no">
408        <type>double</type>
409        <definition>double BM::ll</definition>
410        <argsstring></argsstring>
411        <name>ll</name>
412        <briefdescription>
413<para>Logarithm of marginalized data likelihood. </para>        </briefdescription>
414        <detaileddescription>
415        </detaileddescription>
416        <inbodydescription>
417        </inbodydescription>
418        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="266" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="266" bodyend="-1"/>
419        <referencedby refid="classBM_187f4a547d2c29180be88175e5eab9c88" compoundref="libBM_8h" startline="289" endline="289">BM::_ll</referencedby>
420        <referencedby refid="classEKFfixed_1ddf5334bc1207658fd53698fffbac028" compoundref="ekf__obj_8cpp" startline="10" endline="38">EKFfixed::bayes</referencedby>
421        <referencedby refid="classEKF_1c79c62c9b3e0b56b3aaa1b6f1d9a7af7" compoundref="libKF_8h" startline="364" endline="396">EKF&lt; sq_T &gt;::bayes</referencedby>
422        <referencedby refid="classKalman_17750ffd73f261828a32c18aaeb65c75c" compoundref="libKF_8h" startline="302" endline="337">Kalman&lt; sq_T &gt;::bayes</referencedby>
423        <referencedby refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" compoundref="libKF_8cpp" startline="189" endline="236">EKFCh::bayes</referencedby>
424        <referencedby refid="classKalmanCh_1cca758192846940409822b9bd778d4e1" compoundref="libKF_8cpp" startline="128" endline="162">KalmanCh::bayes</referencedby>
425        <referencedby refid="classEKFfull_18ca46f177e395fa714bbd8bd29ea43e0" compoundref="libKF_8cpp" startline="86" endline="114">EKFfull::bayes</referencedby>
426        <referencedby refid="classARX_1ba82c956ca893826811aefe1e4af465d" compoundref="bdm_2estim_2arx_8cpp" startline="5" endline="24">ARX::bayes</referencedby>
427      </memberdef>
428      <memberdef kind="variable" id="classBM_1af00f0612fabe66241dd507188cdbf88" prot="protected" static="no" mutable="no">
429        <type><ref refid="classRV" kindref="compound">RV</ref></type>
430        <definition>RV BM::rv</definition>
431        <argsstring></argsstring>
432        <name>rv</name>
433        <briefdescription>
434<para>Random variable of the posterior. </para>        </briefdescription>
435        <detaileddescription>
436        </detaileddescription>
437        <inbodydescription>
438        </inbodydescription>
439        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="264" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="264" bodyend="-1"/>
440        <referencedby refid="classBM_1126bd2595c48e311fc2a7ab72876092a" compoundref="libBM_8h" startline="287" endline="287">BM::_rv</referencedby>
441        <referencedby refid="classMPF_1fc5e11e11eec3195e3c6503937bf02bd" compoundref="libPF_8h" startline="104" endline="117">MPF&lt; BM_T &gt;::MPF</referencedby>
442        <referencedby refid="classEKFfull_1fc753106e0d4cf68e4f2160fd54458c0" compoundref="libKF_8cpp" startline="66" endline="84">EKFfull::set_parameters</referencedby>
443        <referencedby refid="classARX_1130bb7336aac681ce14b027b8f1409fa" compoundref="bdm_2estim_2arx_8cpp" startline="82" endline="86">ARX::structure_est</referencedby>
444      </memberdef>
445      <memberdef kind="variable" id="classBMcond_19ba793c8ec453f04d372d17195ed8dec" prot="protected" static="no" mutable="no">
446        <type><ref refid="classRV" kindref="compound">RV</ref></type>
447        <definition>RV BMcond::rvc</definition>
448        <argsstring></argsstring>
449        <name>rvc</name>
450        <briefdescription>
451<para>Identificator of the conditioning variable. </para>        </briefdescription>
452        <detaileddescription>
453        </detaileddescription>
454        <inbodydescription>
455        </inbodydescription>
456        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="304" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="304" bodyend="-1"/>
457        <referencedby refid="classBMcond_13fa60348b2da6b4208bb95b8d146900a" compoundref="libBM_8h" startline="313" endline="313">BMcond::_rvc</referencedby>
458        <referencedby refid="classKFcondR_18c0721e47879bb8840d829db7a174a7f" compoundref="libKF_8cpp" startline="245" endline="249">KFcondR::condition</referencedby>
459        <referencedby refid="classKFcondQR_1c9ecf292a85327aa6309c9fd70ceb606" compoundref="libKF_8cpp" startline="238" endline="243">KFcondQR::condition</referencedby>
460      </memberdef>
461      </sectiondef>
462      <sectiondef kind="public-attrib">
463      <memberdef kind="variable" id="classKalmanFull_1fb5aec635e2720cc5ac31bc01c18a68a" prot="public" static="no" mutable="no">
464        <type>vec</type>
465        <definition>vec KalmanFull::mu</definition>
466        <argsstring></argsstring>
467        <name>mu</name>
468        <briefdescription>
469<para>Mean value of the posterior density. </para>        </briefdescription>
470        <detaileddescription>
471        </detaileddescription>
472        <inbodydescription>
473        </inbodydescription>
474        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="37" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="37" bodyend="-1"/>
475        <referencedby refid="classEKFfull_18ca46f177e395fa714bbd8bd29ea43e0" compoundref="libKF_8cpp" startline="86" endline="114">EKFfull::bayes</referencedby>
476        <referencedby refid="classKalmanFull_113a041cd98ff157703766be275a657bb" compoundref="libKF_8cpp" startline="33" endline="54">KalmanFull::bayes</referencedby>
477        <referencedby refid="classKalmanFull_17197ab6e7380790006394eabd3b97043" compoundref="libKF_8cpp" startline="8" endline="31">KalmanFull::KalmanFull</referencedby>
478        <referencedby refid="classEKFfull_17bb76ea74c144ea0b36db99f94750b7b" compoundref="libKF_8h" startline="186" endline="186">EKFfull::set_est</referencedby>
479        <referencedby refid="classEKFfull_1fc753106e0d4cf68e4f2160fd54458c0" compoundref="libKF_8cpp" startline="66" endline="84">EKFfull::set_parameters</referencedby>
480      </memberdef>
481      <memberdef kind="variable" id="classKalmanFull_1b75dc059e84fa8ffc076203b30f926cc" prot="public" static="no" mutable="no">
482        <type>mat</type>
483        <definition>mat KalmanFull::P</definition>
484        <argsstring></argsstring>
485        <name>P</name>
486        <briefdescription>
487<para>Variance of the posterior density. </para>        </briefdescription>
488        <detaileddescription>
489        </detaileddescription>
490        <inbodydescription>
491        </inbodydescription>
492        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="39" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="39" bodyend="-1"/>
493        <referencedby refid="classEKFfull_18ca46f177e395fa714bbd8bd29ea43e0" compoundref="libKF_8cpp" startline="86" endline="114">EKFfull::bayes</referencedby>
494        <referencedby refid="classKalmanFull_113a041cd98ff157703766be275a657bb" compoundref="libKF_8cpp" startline="33" endline="54">KalmanFull::bayes</referencedby>
495        <referencedby refid="classKalmanFull_17197ab6e7380790006394eabd3b97043" compoundref="libKF_8cpp" startline="8" endline="31">KalmanFull::KalmanFull</referencedby>
496        <referencedby refid="classEKFfull_17bb76ea74c144ea0b36db99f94750b7b" compoundref="libKF_8h" startline="186" endline="186">EKFfull::set_est</referencedby>
497      </memberdef>
498      <memberdef kind="variable" id="classKalmanFull_1c17d69e125acd2673e6688fd86dd3f84" prot="public" static="no" mutable="no">
499        <type>bool</type>
500        <definition>bool KalmanFull::evalll</definition>
501        <argsstring></argsstring>
502        <name>evalll</name>
503        <briefdescription>
504        </briefdescription>
505        <detaileddescription>
506        </detaileddescription>
507        <inbodydescription>
508        </inbodydescription>
509        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="41" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="41" bodyend="-1"/>
510      </memberdef>
511      <memberdef kind="variable" id="classKalmanFull_13aa4bf6128980d0627413dcf9cd07308" prot="public" static="no" mutable="no">
512        <type>double</type>
513        <definition>double KalmanFull::ll</definition>
514        <argsstring></argsstring>
515        <name>ll</name>
516        <briefdescription>
517        </briefdescription>
518        <detaileddescription>
519        </detaileddescription>
520        <inbodydescription>
521        </inbodydescription>
522        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="42" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="42" bodyend="-1"/>
523      </memberdef>
524      </sectiondef>
525      <sectiondef kind="friend">
526      <memberdef kind="friend" id="classKalmanFull_186ba216243ed95bb46d80d88775d16af" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
527        <type>friend std::ostream &amp;</type>
528        <definition>std::ostream&amp; operator&lt;&lt;</definition>
529        <argsstring>(std::ostream &amp;os, const KalmanFull &amp;kf)</argsstring>
530        <name>operator&lt;&lt;</name>
531        <param>
532          <type>std::ostream &amp;</type>
533          <declname>os</declname>
534        </param>
535        <param>
536          <type>const <ref refid="classKalmanFull" kindref="compound">KalmanFull</ref> &amp;</type>
537          <declname>kf</declname>
538        </param>
539        <briefdescription>
540<para>print elements of KF </para>        </briefdescription>
541        <detaileddescription>
542        </detaileddescription>
543        <inbodydescription>
544        </inbodydescription>
545        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="49" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.cpp" bodystart="56" bodyend="59"/>
546      </memberdef>
547      </sectiondef>
548    <briefdescription>
549<para>Extended <ref refid="classKalman" kindref="compound">Kalman</ref> filter with unknown <computeroutput>Q</computeroutput> and <computeroutput>R</computeroutput>. </para>    </briefdescription>
550    <detaileddescription>
551    </detaileddescription>
552    <inheritancegraph>
553      <node id="960">
554        <label>BM</label>
555        <link refid="classBM"/>
556      </node>
557      <node id="957">
558        <label>EKFful_unQR</label>
559        <link refid="classEKFful__unQR"/>
560        <childnode refid="958" relation="public-inheritance">
561        </childnode>
562        <childnode refid="961" relation="public-inheritance">
563        </childnode>
564      </node>
565      <node id="958">
566        <label>EKFfull</label>
567        <link refid="classEKFfull"/>
568        <childnode refid="959" relation="public-inheritance">
569        </childnode>
570        <childnode refid="960" relation="public-inheritance">
571        </childnode>
572      </node>
573      <node id="961">
574        <label>BMcond</label>
575        <link refid="classBMcond"/>
576      </node>
577      <node id="959">
578        <label>KalmanFull</label>
579        <link refid="classKalmanFull"/>
580      </node>
581    </inheritancegraph>
582    <collaborationgraph>
583      <node id="974">
584        <label>enorm&lt; sq_T &gt;</label>
585        <link refid="classenorm"/>
586        <childnode refid="970" relation="public-inheritance">
587        </childnode>
588        <childnode refid="975" relation="usage">
589          <edgelabel>R</edgelabel>
590        </childnode>
591      </node>
592      <node id="975">
593        <label>sq_T</label>
594      </node>
595      <node id="971">
596        <label>epdf</label>
597        <link refid="classepdf"/>
598        <childnode refid="966" relation="usage">
599          <edgelabel>rv</edgelabel>
600        </childnode>
601      </node>
602      <node id="965">
603        <label>BM</label>
604        <link refid="classBM"/>
605        <childnode refid="966" relation="usage">
606          <edgelabel>rv</edgelabel>
607        </childnode>
608      </node>
609      <node id="972">
610        <label>fsqmat</label>
611        <link refid="classfsqmat"/>
612        <childnode refid="973" relation="public-inheritance">
613        </childnode>
614      </node>
615      <node id="969">
616        <label>enorm&lt; fsqmat &gt;</label>
617        <link refid="classenorm"/>
618        <childnode refid="970" relation="public-inheritance">
619        </childnode>
620        <childnode refid="972" relation="usage">
621          <edgelabel>R</edgelabel>
622        </childnode>
623        <childnode refid="974" relation="template-instance">
624          <edgelabel>&lt; fsqmat &gt;</edgelabel>
625        </childnode>
626      </node>
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628        <label>RV</label>
629        <link refid="classRV"/>
630      </node>
631      <node id="973">
632        <label>sqmat</label>
633        <link refid="classsqmat"/>
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635      <node id="967">
636        <label>diffbifn</label>
637        <link refid="classdiffbifn"/>
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639        </childnode>
640        <childnode refid="966" relation="usage">
641          <edgelabel>rvu
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646        <label>EKFful_unQR</label>
647        <link refid="classEKFful__unQR"/>
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658        <label>eEF</label>
659        <link refid="classeEF"/>
660        <childnode refid="971" relation="public-inheritance">
661        </childnode>
662      </node>
663      <node id="963">
664        <label>EKFfull</label>
665        <link refid="classEKFfull"/>
666        <childnode refid="964" relation="public-inheritance">
667        </childnode>
668        <childnode refid="965" relation="public-inheritance">
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670        <childnode refid="967" relation="usage">
671          <edgelabel>pfxu
672phxu</edgelabel>
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675          <edgelabel>E</edgelabel>
676        </childnode>
677      </node>
678      <node id="976">
679        <label>BMcond</label>
680        <link refid="classBMcond"/>
681        <childnode refid="966" relation="usage">
682          <edgelabel>rvc</edgelabel>
683        </childnode>
684      </node>
685      <node id="964">
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687        <link refid="classKalmanFull"/>
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689    </collaborationgraph>
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715      <member refid="classBM_1bf6fb59b30141074f8ee1e2f43d03129" prot="protected" virt="non-virtual" ambiguityscope="BM::"><scope>EKFful_unQR</scope><name>evalll</name></member>
716      <member refid="classKalmanFull_17197ab6e7380790006394eabd3b97043" prot="public" virt="non-virtual"><scope>EKFful_unQR</scope><name>KalmanFull</name></member>
717      <member refid="classKalmanFull_19d7cc2235b643d9662cd9c8b8469747d" prot="public" virt="non-virtual"><scope>EKFful_unQR</scope><name>KalmanFull</name></member>
718      <member refid="classKalmanFull_13aa4bf6128980d0627413dcf9cd07308" prot="public" virt="non-virtual" ambiguityscope="KalmanFull::"><scope>EKFful_unQR</scope><name>ll</name></member>
719      <member refid="classBM_15623fef6572a08c2b53b8c87b82dc979" prot="protected" virt="non-virtual" ambiguityscope="BM::"><scope>EKFful_unQR</scope><name>ll</name></member>
720      <member refid="classKalmanFull_1fb5aec635e2720cc5ac31bc01c18a68a" prot="public" virt="non-virtual"><scope>EKFful_unQR</scope><name>mu</name></member>
721      <member refid="classKalmanFull_186ba216243ed95bb46d80d88775d16af" prot="public" virt="non-virtual"><scope>EKFful_unQR</scope><name>operator&lt;&lt;</name></member>
722      <member refid="classKalmanFull_1b75dc059e84fa8ffc076203b30f926cc" prot="public" virt="non-virtual"><scope>EKFful_unQR</scope><name>P</name></member>
723      <member refid="classKalmanFull_1a8777c1fe67763395d3ddeb326239851" prot="protected" virt="non-virtual"><scope>EKFful_unQR</scope><name>Q</name></member>
724      <member refid="classKalmanFull_1bbd2dab10da47237a5f0d9e55fd61f24" prot="protected" virt="non-virtual"><scope>EKFful_unQR</scope><name>R</name></member>
725      <member refid="classBM_1af00f0612fabe66241dd507188cdbf88" prot="protected" virt="non-virtual"><scope>EKFful_unQR</scope><name>rv</name></member>
726      <member refid="classBMcond_19ba793c8ec453f04d372d17195ed8dec" prot="protected" virt="non-virtual"><scope>EKFful_unQR</scope><name>rvc</name></member>
727      <member refid="classEKFfull_17bb76ea74c144ea0b36db99f94750b7b" prot="public" virt="non-virtual"><scope>EKFful_unQR</scope><name>set_est</name></member>
728      <member refid="classEKFfull_1fc753106e0d4cf68e4f2160fd54458c0" prot="public" virt="non-virtual"><scope>EKFful_unQR</scope><name>set_parameters</name></member>
729      <member refid="classBM_1ca0f02b3b4144e0895cc14f7e0374bdd" prot="public" virt="virtual"><scope>EKFful_unQR</scope><name>~BM</name></member>
730      <member refid="classBMcond_1d40c72250cf93640f982d06de20815b2" prot="public" virt="virtual"><scope>EKFful_unQR</scope><name>~BMcond</name></member>
731    </listofallmembers>
732  </compounddef>
733</doxygen>
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