[187] | 1 | <?xml version='1.0' encoding='UTF-8' standalone='no'?> |
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| 4 | <compoundname>ekf_templ.h</compoundname> |
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| 5 | <includes refid="libKF_8h" local="yes">libKF.h</includes> |
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| 46 | <node id="215"> |
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| 47 | <label>itpp/itbase.h</label> |
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| 50 | <label>../math/chmat.h</label> |
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| 51 | <link refid="chmat_8h"/> |
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| 60 | <label>libKF.h</label> |
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| 61 | <link refid="libKF_8h"/> |
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| 80 | <label>work/git/mixpp/bdm/estim/ekf_templ.h</label> |
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| 88 | </node> |
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| 89 | </invincdepgraph> |
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| 90 | <innerclass refid="classEKFful__unQR" prot="public">EKFful_unQR</innerclass> |
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| 91 | <briefdescription> |
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| 92 | <para>Bayesian Filtering for linear Gaussian models (<ref refid="classKalman" kindref="compound">Kalman</ref> Filter) and extensions. </para> </briefdescription> |
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| 93 | <detaileddescription> |
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| 94 | <para><simplesect kind="author"><para>Vaclav Smidl.</para></simplesect> |
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| 95 | ----------------------------------- BDM++ - C++ library for Bayesian Decision Making under Uncertainty</para><para>Using IT++ for numerical operations ----------------------------------- </para> </detaileddescription> |
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| 96 | <programlisting> |
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| 97 | <codeline lineno="1"></codeline> |
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| 98 | <codeline lineno="13"><highlight class="preprocessor">#ifndef<sp/>EKF_TEMP_H</highlight></codeline> |
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| 99 | <codeline lineno="14"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>EKF_TEMP_H</highlight></codeline> |
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| 100 | <codeline lineno="15"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline> |
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| 101 | <codeline lineno="16"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>"<ref refid="libKF_8h" kindref="compound" tooltip="Bayesian Filtering for linear Gaussian models (Kalman Filter) and extensions.">libKF.h</ref>"</highlight><highlight class="normal"></highlight></codeline> |
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| 102 | <codeline lineno="17"><highlight class="normal"></highlight></codeline> |
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| 103 | <codeline lineno="18"><highlight class="normal"></highlight><highlight class="keyword">using<sp/>namespace<sp/></highlight><highlight class="normal">itpp;</highlight></codeline> |
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| 104 | <codeline lineno="19"><highlight class="normal"></highlight></codeline> |
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| 105 | <codeline lineno="21" refid="classEKFful__unQR" refkind="compound"><highlight class="keyword">class<sp/></highlight><highlight class="normal"><ref refid="classEKFful__unQR" kindref="compound" tooltip="Extended Kalman filter with unknown Q and R.">EKFful_unQR</ref><sp/>:<sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/><ref refid="classEKFfull" kindref="compound" tooltip="Extended Kalman Filter in full matrices.">EKFfull</ref><sp/>,<sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/><ref refid="classBMcond" kindref="compound" tooltip="Conditional Bayesian Filter.">BMcond</ref><sp/>{</highlight></codeline> |
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| 106 | <codeline lineno="22"><highlight class="normal"></highlight><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline> |
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| 107 | <codeline lineno="24" refid="classEKFful__unQR_1873e3a72264f6e777c4443220db15d79" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classEKFful__unQR_1873e3a72264f6e777c4443220db15d79" kindref="member" tooltip="Default constructor.">EKFful_unQR</ref><sp/>(<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>rx,<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>ry,<ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>ru,<ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>rQR<sp/>)<sp/>:<ref refid="classEKFfull" kindref="compound" tooltip="Extended Kalman Filter in full matrices.">EKFfull</ref><sp/>(<sp/>rx,ry,ru<sp/>),<ref refid="classBMcond" kindref="compound" tooltip="Conditional Bayesian Filter.">BMcond</ref><sp/>(<sp/>rQR<sp/>)<sp/>{};</highlight></codeline> |
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| 108 | <codeline lineno="25" refid="classEKFful__unQR_1b586e534c8a8d219561b0c020329d412" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classEKFful__unQR_1b586e534c8a8d219561b0c020329d412" kindref="member" tooltip="Substitute val for rvc.">condition</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&QR0<sp/>)<sp/>{</highlight></codeline> |
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| 109 | <codeline lineno="26"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Q=diag(QR0(0,dimx-1));</highlight></codeline> |
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| 110 | <codeline lineno="27"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>R=diag(QR0(dimx,dimx+dimy-1));</highlight></codeline> |
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| 111 | <codeline lineno="28"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>};</highlight></codeline> |
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| 112 | <codeline lineno="29"><highlight class="normal">};</highlight></codeline> |
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| 113 | <codeline lineno="30"><highlight class="normal"></highlight></codeline> |
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| 114 | <codeline lineno="31"><highlight class="normal"></highlight></codeline> |
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| 115 | <codeline lineno="32"><highlight class="normal"></highlight><highlight class="preprocessor">#endif<sp/>//EKF_TEMP_H</highlight></codeline> |
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| 116 | </programlisting> |
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| 117 | <location file="/home/smidl/work/git/mixpp/bdm/estim/ekf_templ.h"/> |
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