root/library/doc/html/ekf__template_8h_source.html @ 651

Revision 651, 9.9 kB (checked in by mido, 15 years ago)

\doc directory cleaned a bit

Line 
1<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN">
2<html><head><meta http-equiv="Content-Type" content="text/html;charset=UTF-8">
3<title>mixpp: ekf_template.h Source File</title>
4<link href="tabs.css" rel="stylesheet" type="text/css">
5<link href="doxygen.css" rel="stylesheet" type="text/css">
6</head><body>
7<!-- Generated by Doxygen 1.5.9 -->
8<script type="text/javascript">
9<!--
10function changeDisplayState (e){
11  var num=this.id.replace(/[^[0-9]/g,'');
12  var button=this.firstChild;
13  var sectionDiv=document.getElementById('dynsection'+num);
14  if (sectionDiv.style.display=='none'||sectionDiv.style.display==''){
15    sectionDiv.style.display='block';
16    button.src='open.gif';
17  }else{
18    sectionDiv.style.display='none';
19    button.src='closed.gif';
20  }
21}
22function initDynSections(){
23  var divs=document.getElementsByTagName('div');
24  var sectionCounter=1;
25  for(var i=0;i<divs.length-1;i++){
26    if(divs[i].className=='dynheader'&&divs[i+1].className=='dynsection'){
27      var header=divs[i];
28      var section=divs[i+1];
29      var button=header.firstChild;
30      if (button!='IMG'){
31        divs[i].insertBefore(document.createTextNode(' '),divs[i].firstChild);
32        button=document.createElement('img');
33        divs[i].insertBefore(button,divs[i].firstChild);
34      }
35      header.style.cursor='pointer';
36      header.onclick=changeDisplayState;
37      header.id='dynheader'+sectionCounter;
38      button.src='closed.gif';
39      section.id='dynsection'+sectionCounter;
40      section.style.display='none';
41      section.style.marginLeft='14px';
42      sectionCounter++;
43    }
44  }
45}
46window.onload = initDynSections;
47-->
48</script>
49<div class="navigation" id="top">
50  <div class="tabs">
51    <ul>
52      <li><a href="main.html"><span>Main&nbsp;Page</span></a></li>
53      <li><a href="pages.html"><span>Related&nbsp;Pages</span></a></li>
54      <li><a href="annotated.html"><span>Classes</span></a></li>
55      <li class="current"><a href="files.html"><span>Files</span></a></li>
56    </ul>
57  </div>
58  <div class="tabs">
59    <ul>
60      <li><a href="files.html"><span>File&nbsp;List</span></a></li>
61      <li><a href="globals.html"><span>File&nbsp;Members</span></a></li>
62    </ul>
63  </div>
64<h1>ekf_template.h</h1><a href="ekf__template_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001
65<a name="l00013"></a>00013 <span class="preprocessor">#ifndef EKF_TEMPLATE_H</span>
66<a name="l00014"></a>00014 <span class="preprocessor"></span><span class="preprocessor">#define EKF_TEMPLATE_H</span>
67<a name="l00015"></a>00015 <span class="preprocessor"></span>
68<a name="l00016"></a>00016 <span class="preprocessor">#include "<a class="code" href="kalman_8h.html" title="Bayesian Filtering for linear Gaussian models (Kalman Filter) and extensions.">kalman.h</a>"</span>
69<a name="l00017"></a>00017
70<a name="l00018"></a>00018 <span class="keyword">namespace </span>bdm {
71<a name="l00019"></a>00019
72<a name="l00021"></a><a class="code" href="classbdm_1_1EKFful__unQR.html">00021</a> <span class="keyword">class </span><a class="code" href="classbdm_1_1EKFful__unQR.html" title="Extended Kalman filter with unknown Q and R.">EKFful_unQR</a> : <span class="keyword">public</span> <a class="code" href="classbdm_1_1EKFfull.html" title="Extended Kalman Filter in full matrices.">EKFfull</a>  {
73<a name="l00022"></a>00022 <span class="keyword">public</span>:
74<a name="l00023"></a><a class="code" href="classbdm_1_1EKFful__unQR.html#17a98c06f5efe38e0da0beb96d6f9584">00023</a>         <span class="keywordtype">void</span> <a class="code" href="classbdm_1_1EKFful__unQR.html#17a98c06f5efe38e0da0beb96d6f9584" title="Substitute val for rvc.">condition</a> ( <span class="keyword">const</span> vec &amp;QR0 ) {
75<a name="l00024"></a>00024                 <a class="code" href="classbdm_1_1StateSpace.html#66248c83836424f1cd7c1b5b9a92cf1f" title="Matrix Q in square-root form.">Q</a> = diag ( QR0 ( 0, <a class="code" href="classbdm_1_1StateSpace.html#c3120f1c9cd7c3a0ba9944e4a2381f21" title="cache of rv.count()">dimx</a> - 1 ) );
76<a name="l00025"></a>00025                 <a class="code" href="classbdm_1_1StateSpace.html#11dd3493d62ec9329860386adb3e6084" title="Matrix R in square-root form.">R</a> = diag ( QR0 ( <a class="code" href="classbdm_1_1StateSpace.html#c3120f1c9cd7c3a0ba9944e4a2381f21" title="cache of rv.count()">dimx</a>, <a class="code" href="classbdm_1_1StateSpace.html#c3120f1c9cd7c3a0ba9944e4a2381f21" title="cache of rv.count()">dimx</a> + <a class="code" href="classbdm_1_1StateSpace.html#3b784d85ca911866225a79193ae1441f" title="cache of rvy.count()">dimy</a> - 1 ) );
77<a name="l00026"></a>00026         };
78<a name="l00027"></a>00027 };
79<a name="l00028"></a>00028
80<a name="l00030"></a><a class="code" href="classbdm_1_1EKFCh__dQ.html">00030</a> <span class="keyword">class </span><a class="code" href="classbdm_1_1EKFCh__dQ.html" title="Extended Kalman filter in Choleski form with unknown diagonal Q.">EKFCh_dQ</a> : <span class="keyword">public</span> <a class="code" href="classbdm_1_1EKFCh.html" title="Extended Kalman Filter in Square root.">EKFCh</a> {
81<a name="l00031"></a>00031 <span class="keyword">public</span>:
82<a name="l00032"></a><a class="code" href="classbdm_1_1EKFCh__dQ.html#b37b8ffb5699b4edd533fda4ffeaa916">00032</a>         <span class="keywordtype">void</span> <a class="code" href="classbdm_1_1EKFCh__dQ.html#b37b8ffb5699b4edd533fda4ffeaa916" title="Substitute val for rvc.">condition</a> ( <span class="keyword">const</span> vec &amp;Q0 ) {
83<a name="l00033"></a>00033                 <a class="code" href="classbdm_1_1StateSpace.html#66248c83836424f1cd7c1b5b9a92cf1f" title="Matrix Q in square-root form.">Q</a>.<a class="code" href="classbdm_1_1chmat.html#b192df5b54b173ba9bc6922ee9983bc9" title="Access functions.">setD</a> ( Q0, 0 );
84<a name="l00034"></a>00034                 <span class="comment">//from EKF</span>
85<a name="l00035"></a>00035                 preA.set_submatrix ( <a class="code" href="classbdm_1_1StateSpace.html#3b784d85ca911866225a79193ae1441f" title="cache of rvy.count()">dimy</a> + <a class="code" href="classbdm_1_1StateSpace.html#c3120f1c9cd7c3a0ba9944e4a2381f21" title="cache of rv.count()">dimx</a>, <a class="code" href="classbdm_1_1StateSpace.html#3b784d85ca911866225a79193ae1441f" title="cache of rvy.count()">dimy</a>, <a class="code" href="classbdm_1_1StateSpace.html#66248c83836424f1cd7c1b5b9a92cf1f" title="Matrix Q in square-root form.">Q</a>.<a class="code" href="classbdm_1_1chmat.html#17daa8c5c5914bd3194cb3053c5793a5" title="Access function.">_Ch</a>() );
86<a name="l00036"></a>00036         };
87<a name="l00037"></a>00037 };
88<a name="l00038"></a>00038
89<a name="l00040"></a><a class="code" href="classbdm_1_1EKFCh__chQ.html">00040</a> <span class="keyword">class </span><a class="code" href="classbdm_1_1EKFCh__chQ.html" title="Extended Kalman filter in Choleski form with unknown Q.">EKFCh_chQ</a> : <span class="keyword">public</span> <a class="code" href="classbdm_1_1EKFCh.html" title="Extended Kalman Filter in Square root.">EKFCh</a> {
90<a name="l00041"></a>00041 <span class="keyword">public</span>:
91<a name="l00042"></a><a class="code" href="classbdm_1_1EKFCh__chQ.html#e663ea1b2e9ca242a932b837d99d9c6b">00042</a>         <span class="keywordtype">void</span> <a class="code" href="classbdm_1_1EKFCh__chQ.html#e663ea1b2e9ca242a932b837d99d9c6b" title="Substitute val for rvc.">condition</a> ( <span class="keyword">const</span> vec &amp;chQ0 ) {
92<a name="l00043"></a>00043                 <a class="code" href="classbdm_1_1StateSpace.html#66248c83836424f1cd7c1b5b9a92cf1f" title="Matrix Q in square-root form.">Q</a>.<a class="code" href="classbdm_1_1chmat.html#b8fd18754b0e5e0463f818cd16c710c8" title="Access functions.">setCh</a> ( chQ0 );
93<a name="l00044"></a>00044                 <span class="comment">//from EKF</span>
94<a name="l00045"></a>00045                 preA.set_submatrix ( <a class="code" href="classbdm_1_1StateSpace.html#3b784d85ca911866225a79193ae1441f" title="cache of rvy.count()">dimy</a> + <a class="code" href="classbdm_1_1StateSpace.html#c3120f1c9cd7c3a0ba9944e4a2381f21" title="cache of rv.count()">dimx</a>, <a class="code" href="classbdm_1_1StateSpace.html#3b784d85ca911866225a79193ae1441f" title="cache of rvy.count()">dimy</a>, <a class="code" href="classbdm_1_1StateSpace.html#66248c83836424f1cd7c1b5b9a92cf1f" title="Matrix Q in square-root form.">Q</a>.<a class="code" href="classbdm_1_1chmat.html#17daa8c5c5914bd3194cb3053c5793a5" title="Access function.">_Ch</a>() );
95<a name="l00046"></a>00046         };
96<a name="l00047"></a>00047 };
97<a name="l00048"></a>00048
98<a name="l00050"></a><a class="code" href="classbdm_1_1EKFCh__cond.html">00050</a> <span class="keyword">class </span><a class="code" href="classbdm_1_1EKFCh__cond.html" title="Extended Kalman filter with unknown parameters in IM.">EKFCh_cond</a> : <span class="keyword">public</span> <a class="code" href="classbdm_1_1EKFCh.html" title="Extended Kalman Filter in Square root.">EKFCh</a>  {
99<a name="l00051"></a>00051 <span class="keyword">public</span>:
100<a name="l00052"></a><a class="code" href="classbdm_1_1EKFCh__cond.html#8c792fe284f4a26e6af9de251323fc52">00052</a>         <span class="keywordtype">void</span> <a class="code" href="classbdm_1_1EKFCh__cond.html#8c792fe284f4a26e6af9de251323fc52" title="Substitute val for rvc.">condition</a> ( <span class="keyword">const</span> vec &amp;val ) {
101<a name="l00053"></a>00053                 <a class="code" href="classbdm_1_1EKFCh.html#5dc1964a6058057c9e17ea3c2f33bd2a" title="Internal Model f(x,u).">pfxu</a>-&gt;condition ( val );
102<a name="l00054"></a>00054         };
103<a name="l00055"></a>00055 };
104<a name="l00056"></a>00056
105<a name="l00057"></a>00057 }
106<a name="l00058"></a>00058 <span class="preprocessor">#endif //EKF_TEMP_H</span>
107</pre></div></div>
108<hr size="1"><address style="text-align: right;"><small>Generated on Wed Oct 7 17:34:43 2009 for mixpp by&nbsp;
109<a href="http://www.doxygen.org/index.html">
110<img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.9 </small></address>
111</body>
112</html>
Note: See TracBrowser for help on using the browser.