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      <memberdef kind="variable" id="ekf_8h_1415bdef5e664918e4e4b773c36f4e103" prot="public" static="no" mutable="no">
        <type>double</type>
        <definition>double ladeni_EKF[10]</definition>
        <argsstring>[10]</argsstring>
        <name>ladeni_EKF</name>
        <briefdescription>
        </briefdescription>
        <detaileddescription>
        </detaileddescription>
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        <type>void</type>
        <definition>void init_ekf</definition>
        <argsstring>(double Tv, double *param)</argsstring>
        <name>init_ekf</name>
        <param>
          <type>double</type>
          <declname>Tv</declname>
        </param>
        <param>
          <type>double *</type>
          <declname>param</declname>
        </param>
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        </briefdescription>
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        <type>void</type>
        <definition>void ekf</definition>
        <argsstring>(double *x_estimation, double Umd, double beta, double Ucnd, double Ucd, double isxd, double isyd)</argsstring>
        <name>ekf</name>
        <param>
          <type>double *</type>
          <declname>x_estimation</declname>
        </param>
        <param>
          <type>double</type>
          <declname>Umd</declname>
        </param>
        <param>
          <type>double</type>
          <declname>beta</declname>
        </param>
        <param>
          <type>double</type>
          <declname>Ucnd</declname>
        </param>
        <param>
          <type>double</type>
          <declname>Ucd</declname>
        </param>
        <param>
          <type>double</type>
          <declname>isxd</declname>
        </param>
        <param>
          <type>double</type>
          <declname>isyd</declname>
        </param>
        <briefdescription>
        </briefdescription>
        <detaileddescription>
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        </inbodydescription>
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    </detaileddescription>
    <programlisting>
<codeline lineno="1"><highlight class="comment">/************************************</highlight></codeline>
<codeline lineno="2"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Extended<sp/>Kalman<sp/>Filter</highlight></codeline>
<codeline lineno="3"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Kalman<sp/>Observer</highlight></codeline>
<codeline lineno="4"><highlight class="comment"></highlight></codeline>
<codeline lineno="5"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Z.<sp/>Peroutka</highlight></codeline>
<codeline lineno="6"><highlight class="comment"></highlight></codeline>
<codeline lineno="7"><highlight class="comment">Rev.<sp/>15.3.2008</highlight></codeline>
<codeline lineno="8"><highlight class="comment"></highlight></codeline>
<codeline lineno="9"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>EKF<sp/>pocitan<sp/>s<sp/>daty<sp/>ve<sp/>formatu<sp/>Q15,<sp/>zatimco<sp/>regulace<sp/>pracuje<sp/>v<sp/>Q13<sp/>-&gt;</highlight></codeline>
<codeline lineno="10"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>resenim<sp/>je<sp/>vynasobit<sp/>referencni<sp/>hodnoty<sp/>v<sp/>EKF<sp/>4-mi<sp/>(tim<sp/>je<sp/>automaticky</highlight></codeline>
<codeline lineno="11"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>zajisten<sp/>prechod<sp/>mezi<sp/>formaty<sp/>Q13<sp/>a<sp/>Q15).<sp/>Realizovano<sp/>konstantou<sp/>K_PREVOD_FORM.</highlight></codeline>
<codeline lineno="12"><highlight class="comment"></highlight></codeline>
<codeline lineno="13"><highlight class="comment">15.3.2008<sp/><sp/><sp/><sp/><sp/><sp/><sp/>Kontrola<sp/>kodu<sp/>+<sp/>zamena<sp/>datovych<sp/>typu<sp/>q15-&gt;int<sp/>a<sp/>q30-&gt;long.</highlight></codeline>
<codeline lineno="14"><highlight class="comment"></highlight></codeline>
<codeline lineno="15"><highlight class="comment">*************************************/</highlight><highlight class="normal"></highlight></codeline>
<codeline lineno="16"><highlight class="normal"></highlight></codeline>
<codeline lineno="17"><highlight class="normal"></highlight><highlight class="comment">/*<sp/>Declaration<sp/>of<sp/>global<sp/>functions<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
<codeline lineno="18"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>init_ekf(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Tv,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*param);</highlight></codeline>
<codeline lineno="19"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>ekf(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*x_estimation,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Umd,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>beta,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ucnd,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ucd,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>isxd,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>isyd);</highlight></codeline>
<codeline lineno="20"><highlight class="normal"></highlight></codeline>
<codeline lineno="21"><highlight class="normal"></highlight><highlight class="comment">//<sp/>pouze<sp/>pro<sp/>ucely<sp/>ladeni</highlight><highlight class="normal"></highlight></codeline>
<codeline lineno="22"><highlight class="normal"></highlight><highlight class="keyword">extern</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>ladeni_EKF[10];</highlight></codeline>
<codeline lineno="23"><highlight class="normal"></highlight></codeline>
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