[187] | 1 | <?xml version='1.0' encoding='UTF-8' standalone='no'?> |
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| 3 | <compounddef id="pmsm__unkQ_8cpp" kind="file"> |
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| 4 | <compoundname>pmsm_unkQ.cpp</compoundname> |
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| 5 | <includes local="no">itpp/itbase.h</includes> |
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| 6 | <includes refid="libKF_8h" local="no">estim/libKF.h</includes> |
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| 7 | <includes refid="libPF_8h" local="no">estim/libPF.h</includes> |
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| 8 | <includes refid="libFN_8h" local="no">stat/libFN.h</includes> |
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| 9 | <includes refid="pmsm_8h" local="yes">pmsm.h</includes> |
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| 10 | <incdepgraph> |
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| 11 | <node id="631"> |
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| 12 | <label>libBM.h</label> |
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| 13 | <link refid="libBM_8h"/> |
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| 14 | <childnode refid="628" relation="include"> |
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| 15 | </childnode> |
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| 16 | </node> |
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| 17 | <node id="637"> |
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| 18 | <label>pmsm.h</label> |
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| 19 | <link refid="pmsm_8h-source"/> |
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| 20 | <childnode refid="630" relation="include"> |
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| 21 | </childnode> |
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| 22 | </node> |
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| 23 | <node id="634"> |
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| 24 | <label>../itpp_ext.h</label> |
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| 25 | <link refid="itpp__ext_8h-source"/> |
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| 26 | <childnode refid="628" relation="include"> |
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| 27 | </childnode> |
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| 28 | </node> |
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| 29 | <node id="632"> |
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| 30 | <label>../stat/libEF.h</label> |
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| 31 | <link refid="libEF_8h"/> |
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| 32 | <childnode refid="628" relation="include"> |
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| 33 | </childnode> |
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| 35 | </childnode> |
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| 36 | <childnode refid="631" relation="include"> |
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| 39 | </childnode> |
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| 40 | </node> |
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| 41 | <node id="636"> |
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| 42 | <label>estim/libPF.h</label> |
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| 43 | <link refid="libPF_8h"/> |
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| 44 | <childnode refid="628" relation="include"> |
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| 45 | </childnode> |
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| 47 | </childnode> |
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| 48 | <childnode refid="633" relation="include"> |
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| 49 | </childnode> |
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| 50 | </node> |
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| 51 | <node id="630"> |
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| 52 | <label>../stat/libFN.h</label> |
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| 53 | <link refid="libFN_8h-source"/> |
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| 54 | <childnode refid="628" relation="include"> |
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| 55 | </childnode> |
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| 56 | <childnode refid="631" relation="include"> |
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| 57 | </childnode> |
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| 58 | </node> |
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| 59 | <node id="628"> |
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| 60 | <label>itpp/itbase.h</label> |
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| 61 | </node> |
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| 62 | <node id="635"> |
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| 63 | <label>../math/chmat.h</label> |
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| 64 | <link refid="chmat_8h"/> |
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| 65 | <childnode refid="628" relation="include"> |
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| 66 | </childnode> |
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| 68 | </childnode> |
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| 69 | <childnode refid="634" relation="include"> |
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| 70 | </childnode> |
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| 71 | </node> |
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| 72 | <node id="629"> |
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| 73 | <label>estim/libKF.h</label> |
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| 74 | <link refid="libKF_8h"/> |
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| 75 | <childnode refid="628" relation="include"> |
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| 76 | </childnode> |
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| 78 | </childnode> |
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| 80 | </childnode> |
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| 81 | <childnode refid="635" relation="include"> |
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| 82 | </childnode> |
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| 83 | </node> |
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| 84 | <node id="633"> |
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| 85 | <label>../math/libDC.h</label> |
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| 86 | <link refid="libDC_8h"/> |
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| 87 | <childnode refid="628" relation="include"> |
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| 88 | </childnode> |
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| 89 | </node> |
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| 90 | <node id="627"> |
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| 91 | <label>work/git/mixpp/pmsm/pmsm_unkQ.cpp</label> |
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| 92 | <link refid="pmsm_unkQ.cpp"/> |
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| 93 | <childnode refid="628" relation="include"> |
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| 94 | </childnode> |
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| 100 | </childnode> |
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| 102 | </childnode> |
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| 103 | </node> |
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| 104 | </incdepgraph> |
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| 105 | <sectiondef kind="func"> |
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| 106 | <memberdef kind="function" id="pmsm__unkQ_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual"> |
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| 107 | <type>int</type> |
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| 108 | <definition>int main</definition> |
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| 109 | <argsstring>()</argsstring> |
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| 110 | <name>main</name> |
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| 111 | <briefdescription> |
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| 112 | </briefdescription> |
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| 113 | <detaileddescription> |
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| 114 | </detaileddescription> |
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| 115 | <inbodydescription> |
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| 116 | </inbodydescription> |
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| 117 | <location file="/home/smidl/work/git/mixpp/pmsm/pmsm_unkQ.cpp" line="30" bodyfile="/home/smidl/work/git/mixpp/pmsm/pmsm_unkQ.cpp" bodystart="30" bodyend="107"/> |
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| 118 | </memberdef> |
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| 119 | </sectiondef> |
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| 120 | <briefdescription> |
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| 121 | </briefdescription> |
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| 122 | <detaileddescription> |
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| 123 | </detaileddescription> |
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| 124 | <programlisting> |
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| 125 | <codeline lineno="1"><highlight class="comment">/*</highlight></codeline> |
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| 126 | <codeline lineno="2"><highlight class="comment"><sp/><sp/>\file</highlight></codeline> |
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| 127 | <codeline lineno="3"><highlight class="comment"><sp/><sp/>\brief<sp/>Models<sp/>for<sp/>synchronous<sp/>electric<sp/>drive<sp/>using<sp/>IT++<sp/>and<sp/>BDM</highlight></codeline> |
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| 128 | <codeline lineno="4"><highlight class="comment"><sp/><sp/>\author<sp/>Vaclav<sp/>Smidl.</highlight></codeline> |
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| 129 | <codeline lineno="5"><highlight class="comment"></highlight></codeline> |
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| 130 | <codeline lineno="6"><highlight class="comment"><sp/><sp/>-----------------------------------</highlight></codeline> |
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| 131 | <codeline lineno="7"><highlight class="comment"><sp/><sp/>BDM++<sp/>-<sp/>C++<sp/>library<sp/>for<sp/>Bayesian<sp/>Decision<sp/>Making<sp/>under<sp/>Uncertainty</highlight></codeline> |
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| 132 | <codeline lineno="8"><highlight class="comment"></highlight></codeline> |
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| 133 | <codeline lineno="9"><highlight class="comment"><sp/><sp/>Using<sp/>IT++<sp/>for<sp/>numerical<sp/>operations</highlight></codeline> |
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| 134 | <codeline lineno="10"><highlight class="comment"><sp/><sp/>-----------------------------------</highlight></codeline> |
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| 135 | <codeline lineno="11"><highlight class="comment">*/</highlight><highlight class="normal"></highlight></codeline> |
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| 136 | <codeline lineno="12"><highlight class="normal"></highlight></codeline> |
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| 137 | <codeline lineno="13"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/><itpp/itbase.h></highlight><highlight class="normal"></highlight></codeline> |
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| 138 | <codeline lineno="14"><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.">estim/libKF.h</ref>></highlight><highlight class="normal"></highlight></codeline> |
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| 139 | <codeline lineno="15"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/><<ref refid="libPF_8h" kindref="compound" tooltip="Bayesian Filtering using stochastic sampling (Particle Filters).">estim/libPF.h</ref>></highlight><highlight class="normal"></highlight></codeline> |
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| 140 | <codeline lineno="16"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/><stat/libFN.h></highlight><highlight class="normal"></highlight></codeline> |
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| 141 | <codeline lineno="17"><highlight class="normal"></highlight></codeline> |
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| 142 | <codeline lineno="18"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>"pmsm.h"</highlight><highlight class="normal"></highlight></codeline> |
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| 143 | <codeline lineno="19"><highlight class="normal"></highlight></codeline> |
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| 144 | <codeline lineno="20"><highlight class="normal"></highlight><highlight class="keyword">using<sp/>namespace<sp/></highlight><highlight class="normal">itpp;</highlight></codeline> |
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| 145 | <codeline lineno="21"><highlight class="normal"></highlight><highlight class="comment">/*</highlight></codeline> |
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| 146 | <codeline lineno="22"><highlight class="comment">//<sp/>PMSM<sp/>with<sp/>Q<sp/>on<sp/>Ia<sp/>and<sp/>Ib<sp/>given<sp/>externally</highlight></codeline> |
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| 147 | <codeline lineno="23"><highlight class="comment">class<sp/>EKF_unQ<sp/>:<sp/>public<sp/>EKF<chmat><sp/>,<sp/>public<sp/>BMcond<sp/>{</highlight></codeline> |
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| 148 | <codeline lineno="24"><highlight class="comment">public:</highlight></codeline> |
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| 149 | <codeline lineno="25"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>EKF_unQ(<sp/>rx,ry,ru,rQ):EKF<chmat>(rx,ry,ru),BMcond(rQ){};</highlight></codeline> |
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| 150 | <codeline lineno="26"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>void<sp/>condition(const<sp/>vec<sp/>&Q0){};</highlight></codeline> |
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| 151 | <codeline lineno="27"><highlight class="comment">};*/</highlight><highlight class="normal"></highlight></codeline> |
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| 152 | <codeline lineno="28"><highlight class="normal"></highlight></codeline> |
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| 153 | <codeline lineno="29"><highlight class="normal"></highlight></codeline> |
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| 154 | <codeline lineno="30"><highlight class="normal"></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/><ref refid="sim__var_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" kindref="member" tooltip="Extended Kalman filter with unknown Q.">main</ref>()<sp/>{</highlight></codeline> |
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| 155 | <codeline lineno="31"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Kalman<sp/>filter</highlight><highlight class="normal"></highlight></codeline> |
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| 156 | <codeline lineno="32"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>Ndat<sp/>=<sp/>1000;</highlight></codeline> |
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| 157 | <codeline lineno="33"><highlight class="normal"></highlight></codeline> |
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| 158 | <codeline lineno="34"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/>cout<sp/><<<sp/>KF;</highlight><highlight class="normal"></highlight></codeline> |
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| 159 | <codeline lineno="35"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>internal<sp/>model</highlight><highlight class="normal"></highlight></codeline> |
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| 160 | <codeline lineno="36"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classIMpmsm" kindref="compound" tooltip="State evolution model for a PMSM drive and its derivative with respect to $.">IMpmsm</ref><sp/>fxu;</highlight></codeline> |
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| 161 | <codeline lineno="37"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Rs<sp/><sp/><sp/><sp/>Ls<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>dt<sp/><sp/><sp/><sp/><sp/><sp/><sp/>Fmag(Ypm)<sp/>kp<sp/><sp/><sp/>p<sp/><sp/><sp/><sp/>J<sp/><sp/><sp/><sp/><sp/>Bf(Mz)</highlight><highlight class="normal"></highlight></codeline> |
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| 162 | <codeline lineno="38"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fxu.<ref refid="classIMpmsm_142818f3426d99fecb7e97be8ffe2e228" kindref="member" tooltip="Set mechanical and electrical variables.">set_parameters</ref><sp/>(<sp/>0.28,<sp/>0.003465,<sp/>20*1e-6,<sp/>0.1989,<sp/><sp/><sp/>1.5<sp/>,4.0,<sp/>0.04,<sp/>0.0<sp/>);</highlight></codeline> |
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| 163 | <codeline lineno="39"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>observation<sp/>model</highlight><highlight class="normal"></highlight></codeline> |
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| 164 | <codeline lineno="40"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classOMpmsm" kindref="compound" tooltip="Observation model for PMSM drive and its derivative with respect to .">OMpmsm</ref><sp/>hxu;</highlight></codeline> |
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| 165 | <codeline lineno="41"><highlight class="normal"></highlight></codeline> |
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| 166 | <codeline lineno="42"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>mu0=<sp/></highlight><highlight class="stringliteral">"100<sp/>100<sp/>100<sp/>1"</highlight><highlight class="normal">;</highlight></codeline> |
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| 167 | <codeline lineno="43"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>Qdiag<sp/>(<sp/></highlight><highlight class="stringliteral">"0.1<sp/>0.1<sp/>0.01<sp/>0.01"</highlight><highlight class="normal"><sp/>);</highlight></codeline> |
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| 168 | <codeline lineno="44"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>Rdiag<sp/>(<sp/></highlight><highlight class="stringliteral">"0.02<sp/>0.02"</highlight><highlight class="normal"><sp/>);</highlight></codeline> |
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| 169 | <codeline lineno="45"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>vQ<sp/>=<sp/></highlight><highlight class="stringliteral">"0.01:0.01:100"</highlight><highlight class="normal">;</highlight></codeline> |
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| 170 | <codeline lineno="46"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classchmat" kindref="compound" tooltip="Symmetric matrix stored in square root decomposition using upper cholesky.">chmat</ref><sp/>Q<sp/>(<sp/>Qdiag<sp/>);</highlight></codeline> |
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| 171 | <codeline lineno="47"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classchmat" kindref="compound" tooltip="Symmetric matrix stored in square root decomposition using upper cholesky.">chmat</ref><sp/>R<sp/>(<sp/>Rdiag<sp/>);</highlight></codeline> |
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| 172 | <codeline lineno="48"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classEKFCh" kindref="compound" tooltip="Extended Kalman Filter in Square root.">EKFCh</ref><sp/>KFE<sp/>(<sp/>rx,ry,ru<sp/>);</highlight></codeline> |
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| 173 | <codeline lineno="49"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>KFE.set_est<sp/>(<sp/>mu0,<sp/><ref refid="classchmat" kindref="compound" tooltip="Symmetric matrix stored in square root decomposition using upper cholesky.">chmat</ref><sp/>(<sp/>1000*ones<sp/>(<sp/>4<sp/>)<sp/>)<sp/>);</highlight></codeline> |
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| 174 | <codeline lineno="50"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>KFE.set_parameters<sp/>(<sp/>&fxu,&hxu,Q,R<sp/>);</highlight></codeline> |
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| 175 | <codeline lineno="51"><highlight class="normal"></highlight></codeline> |
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| 176 | <codeline lineno="52"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>ll(100,Ndat);</highlight></codeline> |
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| 177 | <codeline lineno="53"><highlight class="normal"></highlight></codeline> |
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| 178 | <codeline lineno="54"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classEKFCh" kindref="compound" tooltip="Extended Kalman Filter in Square root.">EKFCh</ref>*<sp/>kfArray[100];</highlight></codeline> |
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| 179 | <codeline lineno="55"><highlight class="normal"></highlight></codeline> |
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| 180 | <codeline lineno="56"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i=0;i<100;i++<sp/>)<sp/>{</highlight></codeline> |
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| 181 | <codeline lineno="57"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>Qid<sp/>(<sp/>Qdiag<sp/>);</highlight></codeline> |
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| 182 | <codeline lineno="58"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Qid<sp/>(<sp/>0<sp/>)<sp/>=<sp/>vQ<sp/>(<sp/>i<sp/>);<sp/>Qid<sp/>(<sp/>1<sp/>)<sp/>=<sp/>vQ<sp/>(<sp/>i<sp/>);</highlight></codeline> |
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| 183 | <codeline lineno="59"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>kfArray[i]=<sp/></highlight><highlight class="keyword">new</highlight><highlight class="normal"><sp/><ref refid="classEKFCh" kindref="compound" tooltip="Extended Kalman Filter in Square root.">EKFCh</ref><sp/>(<sp/>rx,ry,ru<sp/>);</highlight></codeline> |
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| 184 | <codeline lineno="60"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>kfArray[i]-><ref refid="classKalmanCh_1b261b20f6210d4c85131d33302df0adc" kindref="member" tooltip="Set estimate values, used e.g. in initialization.">set_est</ref><sp/>(<sp/>mu0,<sp/><ref refid="classchmat" kindref="compound" tooltip="Symmetric matrix stored in square root decomposition using upper cholesky.">chmat</ref><sp/>(<sp/>1000*ones<sp/>(<sp/>4<sp/>)<sp/>)<sp/>);</highlight></codeline> |
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| 185 | <codeline lineno="61"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>kfArray[i]-><ref refid="classEKFCh_10216bed270df59fe65d0d62d41f8257c" kindref="member" tooltip="Set nonlinear functions for mean values and covariance matrices.">set_parameters</ref><sp/>(<sp/>&fxu,&hxu,<ref refid="classchmat" kindref="compound" tooltip="Symmetric matrix stored in square root decomposition using upper cholesky.">chmat</ref><sp/>(<sp/>Qid<sp/>),R<sp/>);</highlight></codeline> |
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| 186 | <codeline lineno="62"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline> |
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| 187 | <codeline lineno="63"><highlight class="normal"></highlight></codeline> |
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| 188 | <codeline lineno="64"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classepdf" kindref="compound" tooltip="Probability density function with numerical statistics, e.g. posterior density.">epdf</ref>&<sp/>KFEep<sp/>=<sp/>KFE._epdf();</highlight></codeline> |
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| 189 | <codeline lineno="65"><highlight class="normal"></highlight></codeline> |
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| 190 | <codeline lineno="66"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//simulator<sp/>values</highlight><highlight class="normal"></highlight></codeline> |
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| 191 | <codeline lineno="67"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>dt<sp/>(<sp/>2<sp/>);</highlight></codeline> |
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| 192 | <codeline lineno="68"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>wt<sp/>(<sp/>2<sp/>);</highlight></codeline> |
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| 193 | <codeline lineno="69"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>ut<sp/>(<sp/>2<sp/>);</highlight></codeline> |
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| 194 | <codeline lineno="70"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>xt=mu0;</highlight></codeline> |
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| 195 | <codeline lineno="71"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>et<sp/>(<sp/>4<sp/>);</highlight></codeline> |
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| 196 | <codeline lineno="72"><highlight class="normal"></highlight></codeline> |
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| 197 | <codeline lineno="73"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>Xt=zeros<sp/>(<sp/>4,Ndat<sp/>);</highlight></codeline> |
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| 198 | <codeline lineno="74"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>XtE=zeros<sp/>(<sp/>4,Ndat<sp/>);</highlight></codeline> |
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| 199 | <codeline lineno="75"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Xt.set_col<sp/>(<sp/>0,KFEep.<ref refid="classepdf_1bf0a070a8f3e67a93604ca724638b870" kindref="member" tooltip="return expected value">mean</ref>()<sp/>);</highlight></codeline> |
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| 200 | <codeline lineno="76"><highlight class="normal"></highlight></codeline> |
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| 201 | <codeline lineno="77"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>t=1;t<Ndat;t++<sp/>)<sp/>{</highlight></codeline> |
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| 202 | <codeline lineno="78"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//simulator</highlight><highlight class="normal"></highlight></codeline> |
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| 203 | <codeline lineno="79"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>UniRNG.sample_vector<sp/>(<sp/>2,wt<sp/>);</highlight></codeline> |
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| 204 | <codeline lineno="80"><highlight class="normal"></highlight></codeline> |
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| 205 | <codeline lineno="81"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>rem<sp/>(<sp/>t,500<sp/>)<sp/><200<sp/>)<sp/>ut<sp/>=<sp/>rem<sp/>(<sp/>t,500<sp/>)<sp/>*ones<sp/>(<sp/>2<sp/>);</highlight></codeline> |
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| 206 | <codeline lineno="82"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline> |
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| 207 | <codeline lineno="83"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ut=zeros<sp/>(<sp/>2<sp/>);</highlight></codeline> |
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| 208 | <codeline lineno="84"><highlight class="normal"></highlight></codeline> |
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| 209 | <codeline lineno="85"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>NorRNG.sample_vector<sp/>(<sp/>4,et<sp/>);</highlight></codeline> |
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| 210 | <codeline lineno="86"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>NorRNG.sample_vector<sp/>(<sp/>2,wt<sp/>);</highlight></codeline> |
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| 211 | <codeline lineno="87"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>xt<sp/>=<sp/>fxu.<ref refid="classIMpmsm_145785869d978dda42828a072ec2caebe" kindref="member" tooltip="Evaluates .">eval</ref><sp/>(<sp/>xt,ut<sp/>)<sp/>+<sp/>Q.sqrt_mult<sp/>(<sp/>et<sp/>);</highlight></codeline> |
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| 212 | <codeline lineno="88"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>dt<sp/>=<sp/>hxu.<ref refid="classOMpmsm_18e32392c9c635584606287b8c0e8c9da" kindref="member" tooltip="Evaluates .">eval</ref><sp/>(<sp/>xt,ut<sp/>)<sp/>+<sp/>R.sqrt_mult<sp/>(<sp/>wt<sp/>);</highlight></codeline> |
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| 213 | <codeline lineno="89"><highlight class="normal"></highlight></codeline> |
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| 214 | <codeline lineno="90"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//estimator</highlight><highlight class="normal"></highlight></codeline> |
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| 215 | <codeline lineno="91"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>KFE.bayes<sp/>(<sp/>concat<sp/>(<sp/>dt,ut<sp/>)<sp/>);</highlight></codeline> |
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| 216 | <codeline lineno="92"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i=0;i<100;i++<sp/>)<sp/>{kfArray[i]-><ref refid="classEKFCh_196f6edda324a0b7ef8b4e86cc7af60c1" kindref="member" tooltip="Here dt = [yt;ut] of appropriate dimensions.">bayes</ref>(<sp/>concat<sp/>(<sp/>dt,ut<sp/>)<sp/>);ll(i,t)=ll(i,t-1)<sp/>+<sp/>kfArray[i]-><ref refid="classBM_187f4a547d2c29180be88175e5eab9c88" kindref="member" tooltip="access function">_ll</ref>();</highlight></codeline> |
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| 217 | <codeline lineno="93"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline> |
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| 218 | <codeline lineno="94"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline> |
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| 219 | <codeline lineno="95"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Xt.set_col<sp/>(<sp/>t,xt<sp/>);</highlight></codeline> |
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| 220 | <codeline lineno="96"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>XtE.set_col<sp/>(<sp/>t,KFEep.<ref refid="classepdf_1bf0a070a8f3e67a93604ca724638b870" kindref="member" tooltip="return expected value">mean</ref>()<sp/>);</highlight></codeline> |
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| 221 | <codeline lineno="97"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline> |
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| 222 | <codeline lineno="98"><highlight class="normal"></highlight></codeline> |
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| 223 | <codeline lineno="99"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>it_file<sp/>fou<sp/>(<sp/></highlight><highlight class="stringliteral">"pmsm.it"</highlight><highlight class="normal"><sp/>);</highlight></codeline> |
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| 224 | <codeline lineno="100"><highlight class="normal"></highlight></codeline> |
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| 225 | <codeline lineno="101"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fou<sp/><<<sp/>Name<sp/>(<sp/></highlight><highlight class="stringliteral">"xth"</highlight><highlight class="normal"><sp/>)<sp/><<<sp/>Xt;</highlight></codeline> |
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| 226 | <codeline lineno="102"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fou<sp/><<<sp/>Name<sp/>(<sp/></highlight><highlight class="stringliteral">"xthE"</highlight><highlight class="normal"><sp/>)<sp/><<<sp/>XtE;</highlight></codeline> |
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| 227 | <codeline lineno="103"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fou<sp/><<<sp/>Name<sp/>(<sp/></highlight><highlight class="stringliteral">"ll"</highlight><highlight class="normal"><sp/>)<sp/><<<sp/>ll;</highlight></codeline> |
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| 228 | <codeline lineno="104"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//Exit<sp/>program:</highlight><highlight class="normal"></highlight></codeline> |
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| 229 | <codeline lineno="105"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>0;</highlight></codeline> |
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| 230 | <codeline lineno="106"><highlight class="normal"></highlight></codeline> |
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| 231 | <codeline lineno="107"><highlight class="normal">}</highlight></codeline> |
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| 232 | </programlisting> |
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| 233 | <location file="/home/smidl/work/git/mixpp/pmsm/pmsm_unkQ.cpp"/> |
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| 234 | </compounddef> |
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| 235 | </doxygen> |
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