Changeset 1294 for applications/pmsm/simulator_zdenek/ekf_example/ekf_obj.h
- Timestamp:
- 03/14/11 09:32:33 (13 years ago)
- Files:
-
- 1 modified
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applications/pmsm/simulator_zdenek/ekf_example/ekf_obj.h
r1264 r1294 106 106 107 107 //! EKF for testing q44 108 class EKFtest: public EKF full{108 class EKFtest: public EKF_UD{ 109 109 void bayes ( const vec &yt, const vec &cond ) { 110 EKFfull::bayes(yt,cond); 111 mat &P = est._R(); 112 if (P(3,3)>3.14) 113 P(3,3)=3.14; 110 EKF_UD::bayes(yt,cond); 111 vec D = prior()._R()._D(); 112 113 if (D(3)>10) D(3) = 10; 114 115 prior()._R().__D()=D; 114 116 } 115 117 };