# EKF_unQ Class Reference

Extended Kalman filter with unknown `Q`. More...

Inheritance diagram for EKF_unQ:

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Collaboration diagram for EKF_unQ:

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List of all members.

## Public Member Functions
| EKF_unQ (RV rx, RV ry, RV ru, RV rQ)
| Default constructor.
void | condition (const vec &Q0)
| Substitute `val` for `rvc`.
| EKF_unQ (RV rx, RV ry, RV ru, RV rQ)
| Default constructor.
void | condition (const vec &Q0)
| Substitute `val` for `rvc`.
void | bayes (const vec dt)
| EKF_unQ (RV rx, RV ry, RV ru, RV rQ)
| Default constructor.
void | condition (const vec &Q0)
| Substitute `val` for `rvc`.
void | set_parameters (diffbifn *pfxu, diffbifn *phxu, const chmat Q0, const chmat R0)
| Set nonlinear functions for mean values and covariance matrices.
void | set_parameters (const mat &A0, const mat &B0, const mat &C0, const mat &D0, const chmat &R0, const chmat &Q0)
| Set parameters with check of relevance.
void | bayes (const vec &dt)
| Here dt = [yt;ut] of appropriate dimensions.
void | bayes (mat Dt)
| Batch Bayes rule (columns of Dt are observations).
void | set_est (const vec &mu0, const chmat &P0)
| Set estimate values, used e.g. in initialization.
epdf & | _epdf ()
| access function
mat & | __K ()
| access function
vec | _dP ()
| access function
const RV & | _rv () const
| access function
double | _ll () const
| access function
const RV & | _rvc () const
| access function
## Protected Attributes
mat | preA
| pre array (triangular matrix)
mat | postA
| post array (triangular matrix)
RV | rvy
| Indetifier of output rv.
RV | rvu
| Indetifier of exogeneous rv.
int | dimx
| cache of rv.count()
int | dimy
| cache of rvy.count()
int | dimu
| cache of rvu.count()
mat | A
| Matrix A.
mat | B
| Matrix B.
mat | C
| Matrix C.
mat | D
| Matrix D.
chmat | Q
| Matrix Q in square-root form.
chmat | R
| Matrix R in square-root form.
enorm< chmat > | est
| posterior density on $x_t$
enorm< chmat > | fy
| preditive density on $y_t$
mat | _K
| placeholder for Kalman gain
vec & | _yp
| cache of fy.mu
chmat & | _Ry
| cache of fy.R
vec & | _mu
| cache of est.mu
chmat & | _P
| cache of est.R
RV | rv
| Random variable of the posterior.
double | ll
| Logarithm of marginalized data likelihood.
bool | evalll
| If true, the filter will compute likelihood of the data record and store it in `ll` . Set to false if you want to save time.
RV | rvc
| Identificator of the conditioning variable.

## Detailed Description

Extended Kalman filter with unknown `Q`.

The documentation for this class was generated from the following files:

- work/mixpp/pmsm/pmsm_sim.cpp
- work/mixpp/pmsm/pmsm_sim2.cpp
- work/mixpp/pmsm/pmsm_unkQpf.cpp