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

Timestamp:

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

Author:

smidl

Message:

pmsm stuff fro bierman

Files:

• library/bdm/estim/kalman.h (modified) (4 diffs)

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