71 | | for(i=0;i<4;i++){x_est[i]=0;} |
72 | | for(i=0;i<4;i++){x_pred[i]=0;} |
73 | | for(i=0;i<16;i++){P_pred[i]=0;} |
74 | | for(i=0;i<16;i++){P_est[i]=0;} |
75 | | P_est[0]=0x7FFF; |
76 | | P_est[5]=0x7FFF; |
77 | | P_est[10]=0x7FFF; |
78 | | P_est[15]=0x7FFF; |
79 | | for(i=0;i<2;i++){Y_mes[i]=0;} |
80 | | for(i=0;i<2;i++){ukalm[i]=0;} |
81 | | for(i=0;i<8;i++){Kalm[i]=0;} |
| 71 | for(i=0;i<4;i++){x_est[i]=0;} |
| 72 | for(i=0;i<4;i++){x_pred[i]=0;} |
| 73 | for(i=0;i<16;i++){P_pred[i]=0;} |
| 74 | for(i=0;i<16;i++){P_est[i]=0;} |
| 75 | P_est[0]=0x7FFF; |
| 76 | P_est[5]=0x7FFF; |
| 77 | P_est[10]=0x7FFF; |
| 78 | P_est[15]=0x7FFF; |
| 79 | for(i=0;i<2;i++){Y_mes[i]=0;} |
| 80 | for(i=0;i<2;i++){ukalm[i]=0;} |
| 81 | for(i=0;i<8;i++){Kalm[i]=0;} |
88 | | epdf& posterior(){return E;}; |
89 | | void condition ( const vec &Q0 ) { |
90 | | |
91 | | Q[0]=prevod(minQ(Q0(0)),15); // 0.05 |
92 | | Q[5]=prevod(minQ(Q0(1)),15); |
93 | | Q[10]=prevod(minQ(Q0(2)),15); // 1e-3 |
94 | | Q[15]=prevod(minQ(Q0(3)),15); // 1e-3 |
95 | | |
96 | | } |
| 93 | const epdf& posterior() const {return E;}; |
| 94 | |