Changeset 1191

Timestamp:

09/17/10 14:35:05 (14 years ago)

Author:

smidl

Message:

OO implementation of Kalman in Matlab

Files:

• applications/bdmtoolbox/mex/mex_classes/mexGauss.m (added)
• applications/bdmtoolbox/mex/mex_classes/mexKalman.m (added)
• library/tests/stresssuite/kalman_stress.m (modified) (3 diffs)

library/tests/stresssuite/kalman_stress.m

@@ -47 +47 @@
 oll=0;
 
+Mu = zeros(2,N);
+Mu_oo = zeros(2,N);
+
 tic;
 for t=2:N
@@ -68 +71 @@
 %keyboard
 
+%%%%%%%% OBJECTs in MATLAB %%%%%
+addpath ../../../applications/bdmtoolbox/mex/mex_classes
+
+oKAL=mexKalman;
+oKAL.A = A;
+oKAL.B = B;
+oKAL.C = C;
+oKAL.D = D;
+oKAL.Q = Q;
+oKAL.R = R;
+oKAL=oKAL.validate;
+oKAL.apost_pdf.mu = mu0;
+oKAL.apost_pdf.R = P0;
+
+tic;
+for t=2:N
+    oKAL=oKAL.bayes(y(t),u(t));
+    Mu_oo(1:2,t) = oKAL.apost_pdf.mu;
+end
+exec_matlab_oo=toc
+
 !./stresssuite kalman_stress
 itload('kalman_stress_res.it');
@@ -75 +99 @@
 hold on
 plot([Mu]','--'); % shift the predldmatictions
+plot([Mu_oo]',':'); % shift the predldmatictions
 plot(xth2','+');
 plot(xthE','o');