Changeset 1342

Timestamp:

04/28/11 22:19:19 (14 years ago)

Author:

smidl

Message:

remove rounding in EKF_UD

Files:

• library/bdm/estim/kalman.cpp (modified) (3 diffs)

library/bdm/estim/kalman.cpp

@@ -494 +494 @@
                 }
                 D(i) = sigma; 
-                if (D(i)>(1<<17)) D(i)=(1<<17);
+                //if (D(i)>(1<<17)) D(i)=(1<<17);
                 /////////////// !!!!!!!!!!!!!
                 
@@ -524 +524 @@
                 log_level.store(logA, vec(A._data(), dimension()*dimension()));
 
-                log_level.store(logC, vec(C._data(), dimension()*dimensiony()));
+                log_level.store(logC, (1<<15)*vec(C._data(), dimension()*dimensiony()));
                 
         }
@@ -568 +568 @@
         
         // artificial round of U
-        U = round(U*(1<<15))/(1<<15);
+//      U = round(U*(1<<15))/(1<<15);
                 
 /////