Changeset 1168 for library

Timestamp:

08/27/10 17:05:55 (14 years ago)

Author:

smidl

Message:

pmsm stuff fro bierman

Location:

library/bdm/estim

Files:

• kalman.cpp (modified) (3 diffs)
• kalman.h (modified) (4 diffs)

library/bdm/estim/kalman.cpp

@@ -513 +513 @@
                 }
         }
+        
+        if ( log_level[logU] ){
+                // transformed U
+                mat tU;
+                mat P= U*diag(D)*U.T();
+                
+                vec xref(5);
+                xref(0)= 30.0*1.4142;
+                xref(1)= 30.0*1.4142;
+                xref(2)= 6.283185*200.;
+                xref(3) = 3.141593;
+                xref(4) = 34.0;
+                
+                mat T = diag(1.0/(xref));
+                mat Pf = T*P*T;
+                
+                ldmat Pld(Pf);
+                
+                //vec tmp=vec(U._data(),dimension()*dimension());
+                vec tmp=vec(Pld._L()._data(),dimension()*dimension());
+                log_level.store(logU,round(((int)1<<14)*tmp));
+        }
+        if ( log_level[logG] ){
+                vec tmp=vec(G._data(),dimension()*dimension());
+                log_level.store(logG,tmp);
+        }
+        {
+        }
         //cout << "Ut: " << U << endl;
         //cout << "Dt: " << D << endl;
@@ -535 +563 @@
                         D(j) = beta*gamma*D(j); 
 
-                        cout << "a: " << alpha << "g: " << gamma << endl;
+//                      cout << "a: " << alpha << "g: " << gamma << endl;
                         for (i=0;i<j;i++){
                                 beta   = U(i,j); 
@@ -584 +612 @@
         UI::get ( dR, set, "dR", UI::compulsory );
         set_parameters ( IM, OM, diag ( dQ ), dR  );
-}
-
-}
+        
+        UI::get(log_level, set, "log_level", UI::optional);
+}
+
+}

library/bdm/estim/kalman.h

@@ -429 +429 @@
 class EKF_UD : public BM {
         protected:
+                //! logger
+                LOG_LEVEL(EKF_UD,logU, logG);
                 //! Internal Model f(x,u)
                 shared_ptr<diffbifn> pfxu;
@@ -447 +449 @@
                 enorm<ldmat> est;
         public:
+                
                 //! copy constructor duplicated 
                 EKF_UD* _copy() const {
@@ -458 +461 @@
                 }
                 
-
                 EKF_UD(){}
+                
                 
                 EKF_UD(const EKF_UD &E0): pfxu(E0.pfxu),phxu(E0.phxu), U(E0.U), D(E0.D){}
@@ -469 +472 @@
                 void bayes ( const vec &yt, const vec &cond = empty_vec );
                 
+                void log_register ( bdm::logger& L, const string& prefix ){
+                        BM::log_register ( L, prefix );
+                                                
+                        if ( log_level[logU] )
+                                L.add_vector ( log_level, logU, RV ( dimension()*dimension() ), prefix );
+                        if ( log_level[logG] )
+                                L.add_vector ( log_level, logG, RV ( dimension()*dimension() ), prefix );
+                        
+                }
                 /*! Create object from the following structure