Changeset 1468 for applications/pmsm/simulator_zdenek/ekf_example/ekf_obj.h

Timestamp:

12/16/12 23:05:25 (11 years ago)

Author:

smidl

Message:

uprava generatoru

Files:

• applications/pmsm/simulator_zdenek/ekf_example/ekf_obj.h (modified) (5 diffs)

applications/pmsm/simulator_zdenek/ekf_example/ekf_obj.h

@@ -581 +581 @@
         
         class mp:public epdf{
-                LOG_LEVEL(mp,logth);
+                LOG_LEVEL(mp,logth,logom);
         public:
-                mp():epdf(){set_dim(3);         log_level[logth]=true;
+                mp():epdf(){set_dim(3);         log_level[logth]=true;log_level[logom]=true;
 }
                 vec sample() const {return zeros(3);}
@@ -600 +600 @@
                                 L.add_vector( log_level, logth, RV ( th_dim ), prefix );
                         }
+                        if ( log_level[logom] ) {
+                                int th_dim = N; // dimension - dimension of cov
+                                L.add_vector( log_level, logom, RV ( th_dim ), prefix );
+                        }
                 }
                 void log_write() const {
@@ -609 +613 @@
                                 for(int i=0;i<N;i++){th(i)=Th[i];}
                                 log_level.store( logth, th );
+                        }
+                        if ( log_level[logom] ) {
+                                floatx Om[N];
+                                mpf_om(Om);
+                                vec om(N); 
+                                for(int i=0;i<N;i++){om(i)=Om[i];}
+                                log_level.store( logom, om );
                         }
                 }
@@ -730 +741 @@
                 yy=prevod(val[1]/Iref,15);
                 
-                int16 detS, rem;
-                ekfCh2(&E, ux,uy,yx,yy, &detS, &rem);
-                
-                Est._mu()=vec_2(E.x_est[0]*Uref/32768., E.x_est[1]*Uref/32768.);
-                
-                ll = -0.5*qlog(detS)-0.5*rem;
+                int32 detS;
+                int16 rem;
+                ekfCh2(&E, ux,uy,yx,yy, &detS, &rem); //detS,rem asssigned inside
+                
+                Est._mu()=vec_2(E.x_est[0]*Wref/32768., E.x_est[1]*Thetaref/32768.);
+                
+                ll = 0.99*ll+( -0.5*(double)rem/32767)*10000-0.0*log((double)detS); // detS in q(8+15+15)-(8+8). - multiplicative differece is not important
         }
         const epdf& posterior() const {return Est;};
@@ -788 +800 @@
                 yy=prevod(val[1]/Iref,15);
                 
-                int16 detS, rem;
+                int16  rem;
+                int32 detS;
                 ekfCh2(&E, ux,uy,yx,yy, &detS, &rem);