Changeset 1381 for applications/pmsm/simulator_zdenek/ekf_example/ekf_obj.h

Timestamp:

08/02/11 16:02:37 (13 years ago)

Author:

smidl

Message:

simulator

Files:

• applications/pmsm/simulator_zdenek/ekf_example/ekf_obj.h (modified) (3 diffs)

applications/pmsm/simulator_zdenek/ekf_example/ekf_obj.h

@@ -566 +566 @@
 
 class MPF_pmsm_red:public BM{
+                double qom, qth, r;
 
 
@@ -572 +573 @@
                         dimy=2;
                         dimc=2;
-                        mpf_init(1e-1, 1e-6, 1e-1);
+                        qom=1e-1;
+                        qth=1e-6;
+                        r=1e-1;
                 };
         void bayes ( const vec &val, const vec &cond ) {
@@ -584 +587 @@
         class mp:public epdf{
         public:
-                mp():epdf(){set_dim(N);}
-                vec sample() const {return zeros(N);}
+                mp():epdf(){set_dim(3);}
+                vec sample() const {return zeros(3);}
                 double evallog(const vec &v) const {return 0.0;}
-                vec mean() const {vec tmp(N); mpf_th(tmp._data()); return tmp;}
-                vec variance() const {return zeros(N);}
+                vec mean() const {vec tmp(3); mpf_mean(tmp._data(), tmp._data()+1, tmp._data()+2); return tmp;}
+                vec variance() const {return zeros(3);}
         };
         
         mp mypdf;
         const mp& posterior() const {return mypdf;}
+        
+        void from_setting(const Setting &set){
+                BM::from_setting(set);
+                UI::get(qom,set,"qom",UI::optional);
+                UI::get(qth,set,"qth",UI::optional);
+                UI::get(r,set,"r",UI::optional);
+        }
+        void validate(){
+                mpf_init(qom,qth,r);
+                
+        }
 };
 UIREGISTER(MPF_pmsm_red);