Changeset 1467 for library

Timestamp:

08/02/12 22:43:42 (12 years ago)

Author:

smidl

Message:

vykreslovani v kalmanovi

Location:

library/bdm/estim

Files:

• kalman.cpp (modified) (1 diff)
• kalman.h (modified) (2 diffs)

library/bdm/estim/kalman.cpp

@@ -424 +424 @@
     UI::get ( dR, set, "dR", UI::compulsory );
     set_parameters ( IM, OM, diag ( dQ ), diag ( dR ) );
+        UI::get ( log_level, set, "log_level", UI::optional );
 }
 

library/bdm/estim/kalman.h

@@ -377 +377 @@
 
 class EKFCh : public KalmanCh {
+        LOG_LEVEL(EKFCh,logCh);
 protected:
     //! Internal Model f(x,u)
@@ -416 +417 @@
     \endcode
     */
-    void from_setting ( const Setting &set );
+        void from_setting ( const Setting &set );
+        
+        void log_register(logger &L, const string &prefix){
+                BM::log_register ( L, prefix );
+                
+                L.add_vector ( log_level, logCh, RV ("Ch", dimension()*dimension() ), prefix );
+        };
+        
+        void log_write() const{
+                BM::log_write();
+            if ( log_level[logCh] ) {
+                        vec v(est._R()._Ch()._data(), dimension()*dimension());
+                        if (v(0)<0)
+                                v= -v;
+                        log_level.store( logCh, v);
+                }
+
+        };
 
     void validate() {};