Changeset 1226 for library/bdm/estim/kalman.cpp
- Timestamp:
- 10/22/10 21:15:11 (14 years ago)
- Files:
-
- 1 modified
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library/bdm/estim/kalman.cpp
r1199 r1226 495 495 } 496 496 D(i) = sigma; 497 /////////////// !!!!!!!!!!!!! 498 if (D(i) > 1579000) D(i) =1579000; 499 497 500 for (j=0;j<i;j++){ 498 501 sigma = 0.0; … … 520 523 521 524 vec xref(4); 522 xref(0)= 30.0*1.4142 ;523 xref(1)= 30.0*1.4142 ;524 xref(2)= 6.283185*200. ;525 xref(0)= 30.0*1.4142 *4.; 526 xref(1)= 30.0*1.4142 *4.; 527 xref(2)= 6.283185*200.*4.; 525 528 xref(3) = 3.141593; 526 529 //xref(4) = 34.0; … … 534 537 vec tmp=vec(Pld._L()._data(),dimension()*dimension()); 535 538 log_level.store(logU,round(((int)1<<15)*tmp)); 536 log_level.store(logD, round(Pld._D()*(1<<15)));539 log_level.store(logD,(Pld._D()*(1<<15))); 537 540 538 541 mat Atr=T*A*diag(xref)*(1<<15);