Changeset 1226 for library

Timestamp:

10/22/10 21:15:11 (14 years ago)

Author:

smidl

Message:

kalman in Ch

Location:

library/bdm/estim

Files:

• kalman.cpp (modified) (3 diffs)
• kalman.h (modified) (2 diffs)

library/bdm/estim/kalman.cpp

@@ -495 +495 @@
                 }
                 D(i) = sigma; 
+                /////////////// !!!!!!!!!!!!!
+                if (D(i) > 1579000) D(i) =1579000;
+                
                 for (j=0;j<i;j++){ 
                         sigma = 0.0; 
@@ -520 +523 @@
                 
                 vec xref(4);
-                xref(0)= 30.0*1.4142;
-                xref(1)= 30.0*1.4142;
-                xref(2)= 6.283185*200.;
+                xref(0)= 30.0*1.4142 *4.;
+                xref(1)= 30.0*1.4142 *4.;
+                xref(2)= 6.283185*200.*4.;
                 xref(3) = 3.141593;
                 //xref(4) = 34.0;
@@ -534 +537 @@
                 vec tmp=vec(Pld._L()._data(),dimension()*dimension());
                 log_level.store(logU,round(((int)1<<15)*tmp));
-                log_level.store(logD,round(Pld._D()*(1<<15)));
+                log_level.store(logD,(Pld._D()*(1<<15)));
                 
                 mat Atr=T*A*diag(xref)*(1<<15);

library/bdm/estim/kalman.h

@@ -430 +430 @@
         protected:
                 //! logger
-                LOG_LEVEL(EKF_UD,logU, logG, logD,logA);
+                LOG_LEVEL(EKF_UD,logU, logG, logD,logA,logP);
                 //! Internal Model f(x,u)
                 shared_ptr<diffbifn> pfxu;
@@ -483 +483 @@
                         
                         L.add_vector ( log_level, logA, RV ( dimension()*dimension()), prefix );
+                        L.add_vector ( log_level, logP, RV ( dimension()*dimension()), prefix );
                         
                 }