Changeset 1168 for library/bdm/estim/kalman.cpp

Timestamp:

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

Author:

smidl

Message:

pmsm stuff fro bierman

Files:

• library/bdm/estim/kalman.cpp (modified) (3 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);
+}
+
+}