root/library/tests/test_kalman_QRexh.cpp @ 680

#include <estim/kalman.h>
#include <estim/particles.h>

using namespace bdm;

//These lines are needed for use of cout and endl
using std::cout;
using std::endl;

int main() {
        // Klaman filter
        mat A, B, C, D, R, Q, P0;
        vec mu0;
        mat Mu0;// read from matlab
        // input from Matlab
        it_file fin ( "testKF.it" );

        mat Dt, XQRt, eR, eQ;
        int Ndat;

        bool xxx = fin.seek ( "d" );

        if ( !xxx ) {
                bdm_error ( "testKF.it not found" );
        }

        fin >> Dt;

        fin.seek ( "A" );
        fin >> A;
        fin.seek ( "B" );
        fin >> B;
        fin.seek ( "C" );
        fin >> C;
        fin.seek ( "D" );
        fin >> D;
        fin.seek ( "R" );
        fin >> R;
        fin.seek ( "Q" );
        fin >> Q;
        fin.seek ( "P0" );
        fin >> P0;
        fin.seek ( "mu0" );
        fin >> Mu0;
        mu0 = Mu0.get_col ( 0 );

        vec vQ1 = "0.01:0.04:1";
        vec vQ2 = "0.01:0.04:1";

        mat LL = zeros ( vQ1.length(),  vQ2.length() );

        Ndat = Dt.cols();

        RV rx ( "{x}", "2" );
        RV ru ( "{u}", "1" );
        RV ry ( "{y}", "2" );
        //
        //
        Kalman<ldmat> KFtr;

        for ( int i = 0; i < vQ1.length(); i++ ) {

                for ( int j = 0; j < vQ2.length(); j++ ) {
                        // KF with R unknown
                        mat Qj = Q;
                        Qj ( 0, 0 ) = vQ1 ( i );
                        Qj ( 1, 1 ) = vQ2 ( j );
                        KFtr.set_parameters ( A, B, C, D, ldmat ( R ), ldmat ( Qj ) );
                        KFtr.set_est ( mu0, ldmat ( P0 ) );

                        for ( int t = 1; t < Ndat; t++ ) {
                                KFtr.bayes ( Dt.get_col ( t ) );
                                LL ( i, j ) += KFtr._ll();
                        }
                }
        }

        it_file fou ( "testKF_QR_exh.it" );

        fou << Name ( "LL" ) << LL;
        fou << Name ( "Q1" ) << vQ1;
        fou << Name ( "Q2" ) << vQ2;
        //Exit program:
        return 0;

}