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# work/mixpp/bdm/estim/ekf_templ.h

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    00001
    00013 #ifndef EKF_TEMP_H
    00014 #define EKF_TEMP_H
    00015
    00016 #include "libKF.h"
    00017
    00018 using namespace itpp;
    00019
    00021 class EKFful_unQR : public EKFfull , public BMcond {
    00022 public:
    00024         EKFful_unQR ( RV rx, RV ry,RV ru,RV rQR ) :EKFfull ( rx,ry,ru ),BMcond ( rQR ) {};
    00025         void condition ( const vec &QR0 ) {
    00026                 Q=diag(QR0(0,dimx-1));
    00027                 R=diag(QR0(dimx,dimx+dimy-1));
    00028         };
    00029 };
    00030
    00031
    00032 #endif EKF_TEMP_H