11 | | bdm_assert_debug ( yt.length() == ( dimy ), "KalmanFull::bayes wrong size of dt, " + |
12 | | num2str(yt.length()) + ", expected size is " + num2str(dimy) ); |
13 | | bdm_assert_debug ( cond.length() == ( dimc ), "KalmanFull::bayes wrong size of cond, " + |
14 | | num2str(cond.length()) + ", expected size is " + num2str(dimc) ); |
15 | | |
16 | | const vec &u = cond; // in this case cond=ut |
17 | | const vec &y = yt; |
18 | | |
19 | | vec& mu = est._mu(); |
20 | | mat &P = est._R(); |
21 | | mat& _Ry = fy._R(); |
22 | | vec& yp = fy._mu(); |
23 | | //Time update |
24 | | mu = A * mu + B * u; |
25 | | P = A * P * A.transpose() + ( mat ) Q; |
26 | | |
27 | | //Data update |
28 | | _Ry = C * P * C.transpose() + ( mat ) R; |
29 | | _K = P * C.transpose() * inv ( _Ry ); |
30 | | P -= _K * C * P; // P = P -KCP; |
31 | | yp = C * mu + D * u; |
32 | | mu += _K * ( y - yp ); |
33 | | |
34 | | if ( evalll ) { |
35 | | ll = fy.evallog ( y ); |
36 | | } |
| 11 | bdm_assert_debug ( yt.length() == ( dimy ), "KalmanFull::bayes wrong size of dt, " + |
| 12 | num2str(yt.length()) + ", expected size is " + num2str(dimy) ); |
| 13 | bdm_assert_debug ( cond.length() == ( dimc ), "KalmanFull::bayes wrong size of cond, " + |
| 14 | num2str(cond.length()) + ", expected size is " + num2str(dimc) ); |
| 15 | |
| 16 | const vec &u = cond; // in this case cond=ut |
| 17 | const vec &y = yt; |
| 18 | |
| 19 | vec& mu = est._mu(); |
| 20 | mat &P = est._R(); |
| 21 | mat& _Ry = fy._R(); |
| 22 | vec& yp = fy._mu(); |
| 23 | //Time update |
| 24 | mu = A * mu + B * u; |
| 25 | P = A * P * A.transpose() + ( mat ) Q; |
| 26 | |
| 27 | //Data update |
| 28 | _Ry = C * P * C.transpose() + ( mat ) R; |
| 29 | _K = P * C.transpose() * inv ( _Ry ); |
| 30 | P -= _K * C * P; // P = P -KCP; |
| 31 | yp = C * mu + D * u; |
| 32 | mu += _K * ( y - yp ); |
| 33 | |
| 34 | if ( evalll ) { |
| 35 | ll = fy.evallog ( y ); |
| 36 | } |
45 | | pfxu = pfxu0; |
46 | | phxu = phxu0; |
47 | | |
48 | | set_dim ( pfxu0->_dimx() ); |
49 | | dimy = phxu0->dimension(); |
50 | | dimc = pfxu0->_dimu(); |
51 | | est.set_parameters ( zeros ( dimension() ), eye ( dimension() ) ); |
52 | | |
53 | | A.set_size ( dimension(), dimension() ); |
54 | | C.set_size ( dimy, dimension() ); |
55 | | //initialize matrices A C, later, these will be only updated! |
56 | | pfxu->dfdx_cond ( est._mu(), zeros ( dimc ), A, true ); |
57 | | B.clear(); |
58 | | phxu->dfdx_cond ( est._mu(), zeros ( dimc ), C, true ); |
59 | | D.clear(); |
60 | | |
61 | | R = R0; |
62 | | Q = Q0; |
| 45 | pfxu = pfxu0; |
| 46 | phxu = phxu0; |
| 47 | |
| 48 | set_dim ( pfxu0->_dimx() ); |
| 49 | dimy = phxu0->dimension(); |
| 50 | dimc = pfxu0->_dimu(); |
| 51 | est.set_parameters ( zeros ( dimension() ), eye ( dimension() ) ); |
| 52 | |
| 53 | A.set_size ( dimension(), dimension() ); |
| 54 | C.set_size ( dimy, dimension() ); |
| 55 | //initialize matrices A C, later, these will be only updated! |
| 56 | pfxu->dfdx_cond ( est._mu(), zeros ( dimc ), A, true ); |
| 57 | B.clear(); |
| 58 | phxu->dfdx_cond ( est._mu(), zeros ( dimc ), C, true ); |
| 59 | D.clear(); |
| 60 | |
| 61 | R = R0; |
| 62 | Q = Q0; |
66 | | bdm_assert_debug ( yt.length() == ( dimy ), "EKFull::bayes wrong size of dt" ); |
67 | | bdm_assert_debug ( cond.length() == ( dimc ), "EKFull::bayes wrong size of dt" ); |
68 | | |
69 | | const vec &u = cond; |
70 | | const vec &y = yt; //lazy to change it |
71 | | vec &mu = est._mu(); |
72 | | mat &P = est._R(); |
73 | | mat& _Ry = fy._R(); |
74 | | vec& yp = fy._mu(); |
75 | | |
76 | | pfxu->dfdx_cond ( mu, zeros ( dimc ), A, true ); |
77 | | phxu->dfdx_cond ( mu, zeros ( dimc ), C, true ); |
78 | | |
79 | | //Time update |
80 | | mu = pfxu->eval ( mu, u );// A*mu + B*u; |
81 | | P = A * P * A.transpose() + ( mat ) Q; |
82 | | |
83 | | //Data update |
84 | | _Ry = C * P * C.transpose() + ( mat ) R; |
85 | | _K = P * C.transpose() * inv ( _Ry ); |
86 | | P -= _K * C * P; // P = P -KCP; |
87 | | yp = phxu->eval ( mu, u ); |
88 | | mu += _K * ( y - yp ); |
89 | | |
90 | | if ( BM::evalll ) { |
91 | | ll = fy.evallog ( y ); |
92 | | } |
| 66 | bdm_assert_debug ( yt.length() == ( dimy ), "EKFull::bayes wrong size of dt" ); |
| 67 | bdm_assert_debug ( cond.length() == ( dimc ), "EKFull::bayes wrong size of dt" ); |
| 68 | |
| 69 | const vec &u = cond; |
| 70 | const vec &y = yt; //lazy to change it |
| 71 | vec &mu = est._mu(); |
| 72 | mat &P = est._R(); |
| 73 | mat& _Ry = fy._R(); |
| 74 | vec& yp = fy._mu(); |
| 75 | |
| 76 | pfxu->dfdx_cond ( mu, zeros ( dimc ), A, true ); |
| 77 | phxu->dfdx_cond ( mu, zeros ( dimc ), C, true ); |
| 78 | |
| 79 | //Time update |
| 80 | mu = pfxu->eval ( mu, u );// A*mu + B*u; |
| 81 | P = A * P * A.transpose() + ( mat ) Q; |
| 82 | |
| 83 | //Data update |
| 84 | _Ry = C * P * C.transpose() + ( mat ) R; |
| 85 | _K = P * C.transpose() * inv ( _Ry ); |
| 86 | P -= _K * C * P; // P = P -KCP; |
| 87 | yp = phxu->eval ( mu, u ); |
| 88 | mu += _K * ( y - yp ); |
| 89 | |
| 90 | if ( BM::evalll ) { |
| 91 | ll = fy.evallog ( y ); |
| 92 | } |
112 | | bdm_assert_debug ( yt.length() == dimy, "yt mismatch" ); |
113 | | bdm_assert_debug ( cond.length() == dimc, "yt mismatch" ); |
114 | | |
115 | | const vec &u = cond; |
116 | | const vec &y = yt; |
117 | | vec pom ( dimy ); |
118 | | |
119 | | chmat &_P = est._R(); |
120 | | vec &_mu = est._mu(); |
121 | | mat _K ( dimension(), dimy ); |
122 | | chmat &_Ry = fy._R(); |
123 | | vec &_yp = fy._mu(); |
124 | | //TODO get rid of Q in qr()! |
125 | | // mat Q; |
126 | | |
127 | | //R and Q are already set in set_parameters() |
128 | | preA.set_submatrix ( dimy, 0, ( _P._Ch() ) *C.T() ); |
129 | | //Fixme can be more efficient if .T() is not used |
130 | | preA.set_submatrix ( dimy, dimy, ( _P._Ch() ) *A.T() ); |
131 | | |
132 | | if ( !qr ( preA, postA ) ) { |
133 | | bdm_warning ( "QR in KalmanCh unstable!" ); |
134 | | } |
135 | | |
136 | | ( _Ry._Ch() ) = postA ( 0, dimy - 1, 0, dimy - 1 ); |
137 | | _K = inv ( A ) * ( postA ( 0, dimy - 1 , dimy, dimy + dimension() - 1 ) ).T(); |
138 | | ( _P._Ch() ) = postA ( dimy, dimy + dimension() - 1, dimy, dimy + dimension() - 1 ); |
139 | | |
140 | | _mu = A * ( _mu ) + B * u; |
141 | | _yp = C * _mu - D * u; |
142 | | |
143 | | backward_substitution ( _Ry._Ch(), ( y - _yp ), pom ); |
144 | | _mu += ( _K ) * pom; |
145 | | |
146 | | /* cout << "P:" <<_P.to_mat() <<endl; |
147 | | cout << "Ry:" <<_Ry.to_mat() <<endl; |
148 | | cout << "_K:" <<_K <<endl;*/ |
149 | | |
150 | | if ( evalll == true ) { //likelihood of observation y |
151 | | ll = fy.evallog ( y ); |
152 | | } |
| 112 | bdm_assert_debug ( yt.length() == dimy, "yt mismatch" ); |
| 113 | bdm_assert_debug ( cond.length() == dimc, "yt mismatch" ); |
| 114 | |
| 115 | const vec &u = cond; |
| 116 | const vec &y = yt; |
| 117 | vec pom ( dimy ); |
| 118 | |
| 119 | chmat &_P = est._R(); |
| 120 | vec &_mu = est._mu(); |
| 121 | mat _K ( dimension(), dimy ); |
| 122 | chmat &_Ry = fy._R(); |
| 123 | vec &_yp = fy._mu(); |
| 124 | //TODO get rid of Q in qr()! |
| 125 | // mat Q; |
| 126 | |
| 127 | //R and Q are already set in set_parameters() |
| 128 | preA.set_submatrix ( dimy, 0, ( _P._Ch() ) *C.T() ); |
| 129 | //Fixme can be more efficient if .T() is not used |
| 130 | preA.set_submatrix ( dimy, dimy, ( _P._Ch() ) *A.T() ); |
| 131 | |
| 132 | if ( !qr ( preA, postA ) ) { |
| 133 | bdm_warning ( "QR in KalmanCh unstable!" ); |
| 134 | } |
| 135 | |
| 136 | ( _Ry._Ch() ) = postA ( 0, dimy - 1, 0, dimy - 1 ); |
| 137 | _K = inv ( A ) * ( postA ( 0, dimy - 1 , dimy, dimy + dimension() - 1 ) ).T(); |
| 138 | ( _P._Ch() ) = postA ( dimy, dimy + dimension() - 1, dimy, dimy + dimension() - 1 ); |
| 139 | |
| 140 | _mu = A * ( _mu ) + B * u; |
| 141 | _yp = C * _mu - D * u; |
| 142 | |
| 143 | backward_substitution ( _Ry._Ch(), ( y - _yp ), pom ); |
| 144 | _mu += ( _K ) * pom; |
| 145 | |
| 146 | /* cout << "P:" <<_P.to_mat() <<endl; |
| 147 | cout << "Ry:" <<_Ry.to_mat() <<endl; |
| 148 | cout << "_K:" <<_K <<endl;*/ |
| 149 | |
| 150 | if ( evalll == true ) { //likelihood of observation y |
| 151 | ll = fy.evallog ( y ); |
| 152 | } |
156 | | //get ids of yrv |
157 | | const RV &yrv = ml._rv(); |
158 | | //need to determine u_t - it is all in _rvc that is not in ml._rv() |
159 | | RV rgr0 = ml._rvc().remove_time(); |
160 | | RV urv = rgr0.subt ( yrv ); |
161 | | |
162 | | //We can do only 1d now... :( |
163 | | bdm_assert ( yrv._dsize() == 1, "Only for SISO so far..." ); |
164 | | |
165 | | // create names for |
166 | | RV xrv; //empty |
167 | | RV Crv; //empty |
168 | | int td = ml._rvc().mint(); |
169 | | // assuming strictly proper function!!! |
170 | | for ( int t = -1; t >= td; t-- ) { |
171 | | xrv.add ( yrv.copy_t ( t ) ); |
172 | | Crv.add ( urv.copy_t ( t ) ); |
173 | | } |
174 | | |
175 | | // get mapp |
176 | | th2A.set_connection ( xrv, ml._rvc() ); |
177 | | th2C.set_connection ( Crv, ml._rvc() ); |
178 | | th2D.set_connection ( urv, ml._rvc() ); |
179 | | |
180 | | //set matrix sizes |
181 | | this->A = zeros ( xrv._dsize(), xrv._dsize() ); |
182 | | for ( int j = 1; j < xrv._dsize(); j++ ) { |
183 | | A ( j, j - 1 ) = 1.0; // off diagonal |
184 | | } |
185 | | this->B = zeros ( xrv._dsize(), 1 ); |
186 | | this->B ( 0 ) = 1.0; |
187 | | this->C = zeros ( 1, xrv._dsize() ); |
188 | | this->D = zeros ( 1, urv._dsize() ); |
189 | | this->Q = zeros ( xrv._dsize(), xrv._dsize() ); |
190 | | // R is set by update |
191 | | |
192 | | //set cache |
193 | | this->A1row = zeros ( xrv._dsize() ); |
194 | | this->C1row = zeros ( xrv._dsize() ); |
195 | | this->D1row = zeros ( urv._dsize() ); |
196 | | |
197 | | update_from ( ml ); |
198 | | validate(); |
| 156 | //get ids of yrv |
| 157 | const RV &yrv = ml._rv(); |
| 158 | //need to determine u_t - it is all in _rvc that is not in ml._rv() |
| 159 | RV rgr0 = ml._rvc().remove_time(); |
| 160 | RV urv = rgr0.subt ( yrv ); |
| 161 | |
| 162 | //We can do only 1d now... :( |
| 163 | bdm_assert ( yrv._dsize() == 1, "Only for SISO so far..." ); |
| 164 | |
| 165 | // create names for |
| 166 | RV xrv; //empty |
| 167 | RV Crv; //empty |
| 168 | int td = ml._rvc().mint(); |
| 169 | // assuming strictly proper function!!! |
| 170 | for ( int t = -1; t >= td; t-- ) { |
| 171 | xrv.add ( yrv.copy_t ( t ) ); |
| 172 | Crv.add ( urv.copy_t ( t ) ); |
| 173 | } |
| 174 | |
| 175 | // get mapp |
| 176 | th2A.set_connection ( xrv, ml._rvc() ); |
| 177 | th2C.set_connection ( Crv, ml._rvc() ); |
| 178 | th2D.set_connection ( urv, ml._rvc() ); |
| 179 | |
| 180 | //set matrix sizes |
| 181 | this->A = zeros ( xrv._dsize(), xrv._dsize() ); |
| 182 | for ( int j = 1; j < xrv._dsize(); j++ ) { |
| 183 | A ( j, j - 1 ) = 1.0; // off diagonal |
| 184 | } |
| 185 | this->B = zeros ( xrv._dsize(), 1 ); |
| 186 | this->B ( 0 ) = 1.0; |
| 187 | this->C = zeros ( 1, xrv._dsize() ); |
| 188 | this->D = zeros ( 1, urv._dsize() ); |
| 189 | this->Q = zeros ( xrv._dsize(), xrv._dsize() ); |
| 190 | // R is set by update |
| 191 | |
| 192 | //set cache |
| 193 | this->A1row = zeros ( xrv._dsize() ); |
| 194 | this->C1row = zeros ( xrv._dsize() ); |
| 195 | this->D1row = zeros ( urv._dsize() ); |
| 196 | |
| 197 | update_from ( ml ); |
| 198 | validate(); |
217 | | //get ids of yrv |
218 | | const RV &yrv = ml._rv(); |
219 | | //need to determine u_t - it is all in _rvc that is not in ml._rv() |
220 | | const RV &rgr = ml._rvc(); |
221 | | RV rgr0 = rgr.remove_time(); |
222 | | urv = rgr0.subt ( yrv ); |
223 | | |
224 | | // create names for state variables |
225 | | xrv = yrv; |
226 | | |
227 | | int y_multiplicity = -rgr.mint ( yrv ); |
228 | | int y_block_size = yrv.length() * ( y_multiplicity ); // current yt + all delayed yts |
229 | | for ( int m = 0; m < y_multiplicity - 1; m++ ) { // ========= -1 is important see arx2statespace_notes |
230 | | xrv.add ( yrv.copy_t ( -m - 1 ) ); //add delayed yt |
231 | | } |
232 | | //! temporary RV for connection to ml.rvc, since notation of xrv and ml.rvc does not match |
233 | | RV xrv_ml = xrv.copy_t ( -1 ); |
234 | | |
235 | | // add regressors |
236 | | ivec u_block_sizes ( urv.length() ); // no_blocks = yt + unique rgr |
237 | | for ( int r = 0; r < urv.length(); r++ ) { |
238 | | RV R = urv.subselect ( vec_1 ( r ) ); //non-delayed element of rgr |
239 | | int r_size = urv.size ( r ); |
240 | | int r_multiplicity = -rgr.mint ( R ); |
241 | | u_block_sizes ( r ) = r_size * r_multiplicity ; |
242 | | for ( int m = 0; m < r_multiplicity; m++ ) { |
243 | | xrv.add ( R.copy_t ( -m - 1 ) ); //add delayed yt |
244 | | xrv_ml.add ( R.copy_t ( -m - 1 ) ); //add delayed yt |
245 | | } |
246 | | } |
247 | | // add constant |
248 | | if ( any ( ml._mu_const() != 0.0 ) ) { |
249 | | have_constant = true; |
250 | | xrv.add ( RV ( "bdm_reserved_constant_one", 1 ) ); |
251 | | } else { |
252 | | have_constant = false; |
253 | | } |
254 | | |
255 | | |
256 | | // get mapp |
257 | | th2A.set_connection ( xrv_ml, ml._rvc() ); |
258 | | th2B.set_connection ( urv, ml._rvc() ); |
259 | | |
260 | | //set matrix sizes |
261 | | this->A = zeros ( xrv._dsize(), xrv._dsize() ); |
262 | | //create y block |
263 | | diagonal_part ( this->A, yrv._dsize(), 0, y_block_size - yrv._dsize() ); |
264 | | |
265 | | this->B = zeros ( xrv._dsize(), urv._dsize() ); |
266 | | //add diagonals for rgr |
267 | | int active_x = y_block_size; |
268 | | int active_Bcol = 0; |
269 | | for ( int r = 0; r < urv.length(); r++ ) { |
270 | | if (u_block_sizes(r)>0){ |
271 | | diagonal_part ( this->A, active_x + urv.size ( r ), active_x, u_block_sizes ( r ) - urv.size ( r ) ); |
272 | | this->B.set_submatrix ( active_x, active_Bcol, eye ( urv.size ( r ) ) ); |
273 | | active_Bcol+=u_block_sizes(r); |
274 | | } |
275 | | active_x += u_block_sizes ( r ); |
276 | | } |
277 | | this->C = zeros ( yrv._dsize(), xrv._dsize() ); |
278 | | this->C.set_submatrix ( 0, 0, eye ( yrv._dsize() ) ); |
279 | | this->D = zeros ( yrv._dsize(), urv._dsize() ); |
280 | | this->R.setCh ( zeros ( yrv._dsize(), yrv._dsize() ) ); |
281 | | this->Q.setCh ( zeros ( xrv._dsize(), xrv._dsize() ) ); |
282 | | // Q is set by update |
283 | | |
284 | | update_from ( ml ); |
285 | | validate(); |
286 | | } |
287 | | |
| 217 | //get ids of yrv |
| 218 | const RV &yrv = ml._rv(); |
| 219 | //need to determine u_t - it is all in _rvc that is not in ml._rv() |
| 220 | const RV &rgr = ml._rvc(); |
| 221 | RV rgr0 = rgr.remove_time(); |
| 222 | urv = rgr0.subt ( yrv ); |
| 223 | |
| 224 | // create names for state variables |
| 225 | xrv = yrv; |
| 226 | |
| 227 | int y_multiplicity = -rgr.mint ( yrv ); |
| 228 | int y_block_size = yrv.length() * ( y_multiplicity ); // current yt + all delayed yts |
| 229 | for ( int m = 0; m < y_multiplicity - 1; m++ ) { // ========= -1 is important see arx2statespace_notes |
| 230 | xrv.add ( yrv.copy_t ( -m - 1 ) ); //add delayed yt |
| 231 | } |
| 232 | //! temporary RV for connection to ml.rvc, since notation of xrv and ml.rvc does not match |
| 233 | RV xrv_ml = xrv.copy_t ( -1 ); |
| 234 | |
| 235 | // add regressors |
| 236 | ivec u_block_sizes ( urv.length() ); // no_blocks = yt + unique rgr |
| 237 | for ( int r = 0; r < urv.length(); r++ ) { |
| 238 | RV R = urv.subselect ( vec_1 ( r ) ); //non-delayed element of rgr |
| 239 | int r_size = urv.size ( r ); |
| 240 | int r_multiplicity = -rgr.mint ( R ); |
| 241 | u_block_sizes ( r ) = r_size * r_multiplicity ; |
| 242 | for ( int m = 0; m < r_multiplicity; m++ ) { |
| 243 | xrv.add ( R.copy_t ( -m - 1 ) ); //add delayed yt |
| 244 | xrv_ml.add ( R.copy_t ( -m - 1 ) ); //add delayed yt |
| 245 | } |
| 246 | } |
| 247 | // add constant |
| 248 | if ( any ( ml._mu_const() != 0.0 ) ) { |
| 249 | have_constant = true; |
| 250 | xrv.add ( RV ( "bdm_reserved_constant_one", 1 ) ); |
| 251 | } else { |
| 252 | have_constant = false; |
| 253 | } |
| 254 | |
| 255 | |
| 256 | // get mapp |
| 257 | th2A.set_connection ( xrv_ml, ml._rvc() ); |
| 258 | th2B.set_connection ( urv, ml._rvc() ); |
| 259 | |
| 260 | //set matrix sizes |
| 261 | this->A = zeros ( xrv._dsize(), xrv._dsize() ); |
| 262 | //create y block |
| 263 | diagonal_part ( this->A, yrv._dsize(), 0, y_block_size - yrv._dsize() ); |
| 264 | |
| 265 | this->B = zeros ( xrv._dsize(), urv._dsize() ); |
| 266 | //add diagonals for rgr |
| 267 | int active_x = y_block_size; |
| 268 | int active_Bcol = 0; |
| 269 | for ( int r = 0; r < urv.length(); r++ ) { |
| 270 | if (u_block_sizes(r)>0) { |
| 271 | diagonal_part ( this->A, active_x + urv.size ( r ), active_x, u_block_sizes ( r ) - urv.size ( r ) ); |
| 272 | this->B.set_submatrix ( active_x, active_Bcol, eye ( urv.size ( r ) ) ); |
| 273 | active_Bcol+=u_block_sizes(r); |
| 274 | } |
| 275 | active_x += u_block_sizes ( r ); |
| 276 | } |
| 277 | this->C = zeros ( yrv._dsize(), xrv._dsize() ); |
| 278 | this->C.set_submatrix ( 0, 0, eye ( yrv._dsize() ) ); |
| 279 | this->D = zeros ( yrv._dsize(), urv._dsize() ); |
| 280 | this->R.setCh ( zeros ( yrv._dsize(), yrv._dsize() ) ); |
| 281 | this->Q.setCh ( zeros ( xrv._dsize(), xrv._dsize() ) ); |
| 282 | // Q is set by update |
| 283 | |
| 284 | update_from ( ml ); |
| 285 | validate(); |
| 286 | } |
| 287 | |
289 | | vec Arow = zeros ( A.cols() ); |
290 | | vec Brow = zeros ( B.cols() ); |
291 | | // ROW- WISE EVALUATION ===== |
292 | | for ( int i = 0; i < ml._rv()._dsize(); i++ ) { |
293 | | |
294 | | vec theta = ml._A().get_row ( i ); |
295 | | |
296 | | th2A.filldown ( theta, Arow ); |
297 | | if ( have_constant ) { |
298 | | // constant is always at the end no need for datalink |
299 | | Arow ( A.cols() - 1 ) = ml._mu_const() ( i ); |
300 | | } |
301 | | this->A.set_row ( i, Arow ); |
302 | | |
303 | | th2B.filldown ( theta, Brow ); |
304 | | this->B.set_row ( i, Brow ); |
305 | | } |
306 | | this->Q._Ch().set_submatrix ( 0, 0, ml.__R()._Ch() ); |
| 289 | vec Arow = zeros ( A.cols() ); |
| 290 | vec Brow = zeros ( B.cols() ); |
| 291 | // ROW- WISE EVALUATION ===== |
| 292 | for ( int i = 0; i < ml._rv()._dsize(); i++ ) { |
| 293 | |
| 294 | vec theta = ml._A().get_row ( i ); |
| 295 | |
| 296 | th2A.filldown ( theta, Arow ); |
| 297 | if ( have_constant ) { |
| 298 | // constant is always at the end no need for datalink |
| 299 | Arow ( A.cols() - 1 ) = ml._mu_const() ( i ); |
| 300 | } |
| 301 | this->A.set_row ( i, Arow ); |
| 302 | |
| 303 | th2B.filldown ( theta, Brow ); |
| 304 | this->B.set_row ( i, Brow ); |
| 305 | } |
| 306 | this->Q._Ch().set_submatrix ( 0, 0, ml.__R()._Ch() ); |
312 | | pfxu = pfxu0; |
313 | | phxu = phxu0; |
314 | | |
315 | | set_dim ( pfxu0->_dimx() ); |
316 | | dimy = phxu0->dimension(); |
317 | | dimc = pfxu0->_dimu(); |
318 | | |
319 | | vec &_mu = est._mu(); |
320 | | // if mu is not set, set it to zeros, just for constant terms of A and C |
321 | | if ( _mu.length() != dimension() ) _mu = zeros ( dimension() ); |
322 | | A = zeros ( dimension(), dimension() ); |
323 | | C = zeros ( dimy, dimension() ); |
324 | | preA = zeros ( dimy + dimension() + dimension(), dimy + dimension() ); |
325 | | |
326 | | //initialize matrices A C, later, these will be only updated! |
327 | | pfxu->dfdx_cond ( _mu, zeros ( dimc ), A, true ); |
| 312 | pfxu = pfxu0; |
| 313 | phxu = phxu0; |
| 314 | |
| 315 | set_dim ( pfxu0->_dimx() ); |
| 316 | dimy = phxu0->dimension(); |
| 317 | dimc = pfxu0->_dimu(); |
| 318 | |
| 319 | vec &_mu = est._mu(); |
| 320 | // if mu is not set, set it to zeros, just for constant terms of A and C |
| 321 | if ( _mu.length() != dimension() ) _mu = zeros ( dimension() ); |
| 322 | A = zeros ( dimension(), dimension() ); |
| 323 | C = zeros ( dimy, dimension() ); |
| 324 | preA = zeros ( dimy + dimension() + dimension(), dimy + dimension() ); |
| 325 | |
| 326 | //initialize matrices A C, later, these will be only updated! |
| 327 | pfxu->dfdx_cond ( _mu, zeros ( dimc ), A, true ); |
346 | | vec pom ( dimy ); |
347 | | const vec &u = cond; |
348 | | const vec &y = yt; |
349 | | vec &_mu = est._mu(); |
350 | | chmat &_P = est._R(); |
351 | | chmat &_Ry = fy._R(); |
352 | | vec &_yp = fy._mu(); |
353 | | |
354 | | pfxu->dfdx_cond ( _mu, u, A, false ); //update A by a derivative of fx |
355 | | phxu->dfdx_cond ( _mu, u, C, false ); //update A by a derivative of fx |
356 | | |
357 | | //R and Q are already set in set_parameters() |
358 | | preA.set_submatrix ( dimy, 0, ( _P._Ch() ) *C.T() ); |
359 | | //Fixme can be more efficient if .T() is not used |
360 | | preA.set_submatrix ( dimy, dimy, ( _P._Ch() ) *A.T() ); |
| 346 | vec pom ( dimy ); |
| 347 | const vec &u = cond; |
| 348 | const vec &y = yt; |
| 349 | vec &_mu = est._mu(); |
| 350 | chmat &_P = est._R(); |
| 351 | chmat &_Ry = fy._R(); |
| 352 | vec &_yp = fy._mu(); |
| 353 | |
| 354 | pfxu->dfdx_cond ( _mu, u, A, false ); //update A by a derivative of fx |
| 355 | phxu->dfdx_cond ( _mu, u, C, false ); //update A by a derivative of fx |
| 356 | |
| 357 | //R and Q are already set in set_parameters() |
| 358 | preA.set_submatrix ( dimy, 0, ( _P._Ch() ) *C.T() ); |
| 359 | //Fixme can be more efficient if .T() is not used |
| 360 | preA.set_submatrix ( dimy, dimy, ( _P._Ch() ) *A.T() ); |
403 | | BM::from_setting ( set ); |
404 | | shared_ptr<diffbifn> IM = UI::build<diffbifn> ( set, "IM", UI::compulsory ); |
405 | | shared_ptr<diffbifn> OM = UI::build<diffbifn> ( set, "OM", UI::compulsory ); |
406 | | |
407 | | //statistics |
408 | | int dim = IM->dimension(); |
409 | | vec mu0; |
410 | | if ( !UI::get ( mu0, set, "mu0" ) ) |
411 | | mu0 = zeros ( dim ); |
412 | | |
413 | | mat P0; |
414 | | vec dP0; |
415 | | if ( UI::get ( dP0, set, "dP0" ) ) |
416 | | P0 = diag ( dP0 ); |
417 | | else if ( !UI::get ( P0, set, "P0" ) ) |
418 | | P0 = eye ( dim ); |
419 | | |
420 | | set_statistics ( mu0, P0 ); |
421 | | |
422 | | //parameters |
423 | | vec dQ, dR; |
424 | | UI::get ( dQ, set, "dQ", UI::compulsory ); |
425 | | UI::get ( dR, set, "dR", UI::compulsory ); |
426 | | set_parameters ( IM, OM, diag ( dQ ), diag ( dR ) ); |
| 403 | BM::from_setting ( set ); |
| 404 | shared_ptr<diffbifn> IM = UI::build<diffbifn> ( set, "IM", UI::compulsory ); |
| 405 | shared_ptr<diffbifn> OM = UI::build<diffbifn> ( set, "OM", UI::compulsory ); |
| 406 | |
| 407 | //statistics |
| 408 | int dim = IM->dimension(); |
| 409 | vec mu0; |
| 410 | if ( !UI::get ( mu0, set, "mu0" ) ) |
| 411 | mu0 = zeros ( dim ); |
| 412 | |
| 413 | mat P0; |
| 414 | vec dP0; |
| 415 | if ( UI::get ( dP0, set, "dP0" ) ) |
| 416 | P0 = diag ( dP0 ); |
| 417 | else if ( !UI::get ( P0, set, "P0" ) ) |
| 418 | P0 = eye ( dim ); |
| 419 | |
| 420 | set_statistics ( mu0, P0 ); |
| 421 | |
| 422 | //parameters |
| 423 | vec dQ, dR; |
| 424 | UI::get ( dQ, set, "dQ", UI::compulsory ); |
| 425 | UI::get ( dR, set, "dR", UI::compulsory ); |
| 426 | set_parameters ( IM, OM, diag ( dQ ), diag ( dR ) ); |