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  <compounddef id="classEKFful__unQR" kind="class" prot="public">
    <compoundname>EKFful_unQR</compoundname>
    <basecompoundref refid="classEKFfull" prot="public" virt="non-virtual">EKFfull</basecompoundref>
    <basecompoundref refid="classBMcond" prot="public" virt="non-virtual">BMcond</basecompoundref>
    <includes refid="ekf__templ_8h" local="no">ekf_templ.h</includes>
      <sectiondef kind="public-func">
      <memberdef kind="function" id="classEKFful__unQR_1873e3a72264f6e777c4443220db15d79" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
        <type></type>
        <definition>EKFful_unQR::EKFful_unQR</definition>
        <argsstring>(RV rx, RV ry, RV ru, RV rQR)</argsstring>
        <name>EKFful_unQR</name>
        <param>
          <type><ref refid="classRV" kindref="compound">RV</ref></type>
          <declname>rx</declname>
        </param>
        <param>
          <type><ref refid="classRV" kindref="compound">RV</ref></type>
          <declname>ry</declname>
        </param>
        <param>
          <type><ref refid="classRV" kindref="compound">RV</ref></type>
          <declname>ru</declname>
        </param>
        <param>
          <type><ref refid="classRV" kindref="compound">RV</ref></type>
          <declname>rQR</declname>
        </param>
        <briefdescription>
<para>Default constructor. </para>        </briefdescription>
        <detaileddescription>
        </detaileddescription>
        <inbodydescription>
        </inbodydescription>
        <location file="/home/smidl/work/git/mixpp/bdm/estim/ekf_templ.h" line="24" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/ekf_templ.h" bodystart="24" bodyend="24"/>
      </memberdef>
      <memberdef kind="function" id="classEKFful__unQR_1b586e534c8a8d219561b0c020329d412" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
        <type>void</type>
        <definition>void EKFful_unQR::condition</definition>
        <argsstring>(const vec &amp;QR0)</argsstring>
        <name>condition</name>
        <reimplements refid="classBMcond_13543cfe274c35f9033c24d8036a96c4d">condition</reimplements>
        <param>
          <type>const vec &amp;</type>
          <declname>val</declname>
        </param>
        <briefdescription>
<para>Substitute <computeroutput>val</computeroutput> for <computeroutput>rvc</computeroutput>. </para>        </briefdescription>
        <detaileddescription>
        </detaileddescription>
        <inbodydescription>
        </inbodydescription>
        <location file="/home/smidl/work/git/mixpp/bdm/estim/ekf_templ.h" line="25" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/ekf_templ.h" bodystart="25" bodyend="28"/>
      </memberdef>
      <memberdef kind="function" id="classEKFfull_1fc753106e0d4cf68e4f2160fd54458c0" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
        <type>void</type>
        <definition>void EKFfull::set_parameters</definition>
        <argsstring>(diffbifn *pfxu, diffbifn *phxu, const mat Q0, const mat R0)</argsstring>
        <name>set_parameters</name>
        <param>
          <type><ref refid="classdiffbifn" kindref="compound">diffbifn</ref> *</type>
          <declname>pfxu</declname>
        </param>
        <param>
          <type><ref refid="classdiffbifn" kindref="compound">diffbifn</ref> *</type>
          <declname>phxu</declname>
        </param>
        <param>
          <type>const mat</type>
          <declname>Q0</declname>
        </param>
        <param>
          <type>const mat</type>
          <declname>R0</declname>
        </param>
        <briefdescription>
<para>Set nonlinear functions for mean values and covariance matrices. </para>        </briefdescription>
        <detaileddescription>
        </detaileddescription>
        <inbodydescription>
        </inbodydescription>
        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="182" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.cpp" bodystart="66" bodyend="84"/>
        <references refid="classdiffbifn_1fc8779acbff170611aff0ee70cee3879" compoundref="libFN_8h" startline="93" endline="93">diffbifn::_dimu</references>
        <references refid="classfnc_1a8891973d0ca48ce38e1886df45ca298" compoundref="libBM_8h" startline="126" endline="126">fnc::_dimy</references>
        <references refid="classRV_1f5c7b8bd589eef09ccdf3329a0addea0" compoundref="libBM_8h" startline="69" endline="69">RV::count</references>
        <references refid="classdiffbifn_16d217a02d4fa13931258d4bebdd0feb4" compoundref="libFN_8h" startline="85" endline="85">diffbifn::dfdx_cond</references>
        <references refid="classKalmanFull_1fb5aec635e2720cc5ac31bc01c18a68a" compoundref="libKF_8h" startline="37">KalmanFull::mu</references>
        <references refid="classBM_1af00f0612fabe66241dd507188cdbf88" compoundref="libBM_8h" startline="264">BM::rv</references>
        <referencedby refid="sim__var_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" compoundref="sim__var_8cpp" startline="28" endline="166">main</referencedby>
      </memberdef>
      <memberdef kind="function" id="classEKFfull_18ca46f177e395fa714bbd8bd29ea43e0" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
        <type>void</type>
        <definition>void EKFfull::bayes</definition>
        <argsstring>(const vec &amp;dt)</argsstring>
        <name>bayes</name>
        <reimplements refid="classKalmanFull_113a041cd98ff157703766be275a657bb">bayes</reimplements>
        <param>
          <type>const vec &amp;</type>
          <declname>dt</declname>
        </param>
        <briefdescription>
<para>Here dt = [yt;ut] of appropriate dimensions. </para>        </briefdescription>
        <detaileddescription>
        </detaileddescription>
        <inbodydescription>
        </inbodydescription>
        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="184" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.cpp" bodystart="86" bodyend="114"/>
        <references refid="classdiffbifn_16d217a02d4fa13931258d4bebdd0feb4" compoundref="libFN_8h" startline="85" endline="85">diffbifn::dfdx_cond</references>
        <references refid="classdiffbifn_1ad7673e16aa1a046b131b24c731c4632" compoundref="libFN_8h" startline="76" endline="80">diffbifn::eval</references>
        <references refid="classBM_1bf6fb59b30141074f8ee1e2f43d03129" compoundref="libBM_8h" startline="268">BM::evalll</references>
        <references refid="classBM_15623fef6572a08c2b53b8c87b82dc979" compoundref="libBM_8h" startline="266">BM::ll</references>
        <references refid="classKalmanFull_1fb5aec635e2720cc5ac31bc01c18a68a" compoundref="libKF_8h" startline="37">KalmanFull::mu</references>
        <references refid="classKalmanFull_1b75dc059e84fa8ffc076203b30f926cc" compoundref="libKF_8h" startline="39">KalmanFull::P</references>
        <references refid="classenorm_1d892a38f03be12e572ea57d9689cef6b" compoundref="libEF_8h" startline="103" endline="103">enorm&lt; sq_T &gt;::set_mu</references>
        <referencedby refid="sim__var_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" compoundref="sim__var_8cpp" startline="28" endline="166">main</referencedby>
      </memberdef>
      <memberdef kind="function" id="classBM_187b07867fd4c133aa89a18543f68d9f9" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
        <type>void</type>
        <definition>void BM::bayes</definition>
        <argsstring>(mat Dt)</argsstring>
        <name>bayes</name>
        <param>
          <type>mat</type>
          <declname>Dt</declname>
        </param>
        <briefdescription>
<para>Batch Bayes rule (columns of Dt are observations). </para>        </briefdescription>
        <detaileddescription>
        </detaileddescription>
        <inbodydescription>
        </inbodydescription>
        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="280"/>
      </memberdef>
      <memberdef kind="function" id="classEKFfull_17bb76ea74c144ea0b36db99f94750b7b" prot="public" static="no" const="no" explicit="no" inline="yes" virt="non-virtual">
        <type>void</type>
        <definition>void EKFfull::set_est</definition>
        <argsstring>(vec mu0, mat P0)</argsstring>
        <name>set_est</name>
        <param>
          <type>vec</type>
          <declname>mu0</declname>
        </param>
        <param>
          <type>mat</type>
          <declname>P0</declname>
        </param>
        <briefdescription>
<para>set estimates </para>        </briefdescription>
        <detaileddescription>
        </detaileddescription>
        <inbodydescription>
        </inbodydescription>
        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="186" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="186" bodyend="186"/>
        <references refid="classKalmanFull_1fb5aec635e2720cc5ac31bc01c18a68a" compoundref="libKF_8h" startline="37">KalmanFull::mu</references>
        <references refid="classKalmanFull_1b75dc059e84fa8ffc076203b30f926cc" compoundref="libKF_8h" startline="39">KalmanFull::P</references>
        <referencedby refid="sim__var_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" compoundref="sim__var_8cpp" startline="28" endline="166">main</referencedby>
      </memberdef>
      <memberdef kind="function" id="classEKFfull_14080d68f79dade36ccf547d57e64bdc2" prot="public" static="no" const="no" explicit="no" inline="yes" virt="virtual">
        <type><ref refid="classepdf" kindref="compound">epdf</ref> &amp;</type>
        <definition>epdf&amp; EKFfull::_epdf</definition>
        <argsstring>()</argsstring>
        <name>_epdf</name>
        <reimplements refid="classBM_13dc45554556926bde996a267636abe55">_epdf</reimplements>
        <briefdescription>
<para>dummy! </para>        </briefdescription>
        <detaileddescription>
        </detaileddescription>
        <inbodydescription>
        </inbodydescription>
        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="188" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="188" bodyend="188"/>
        <referencedby refid="sim__var_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" compoundref="sim__var_8cpp" startline="28" endline="166">main</referencedby>
      </memberdef>
      <memberdef kind="function" id="classBM_1126bd2595c48e311fc2a7ab72876092a" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
        <type>const <ref refid="classRV" kindref="compound">RV</ref> &amp;</type>
        <definition>const RV&amp; BM::_rv</definition>
        <argsstring>() const </argsstring>
        <name>_rv</name>
        <briefdescription>
<para>access function </para>        </briefdescription>
        <detaileddescription>
        </detaileddescription>
        <inbodydescription>
        </inbodydescription>
        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="287" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="287" bodyend="287"/>
        <references refid="classBM_1af00f0612fabe66241dd507188cdbf88" compoundref="libBM_8h" startline="264">BM::rv</references>
      </memberdef>
      <memberdef kind="function" id="classBM_187f4a547d2c29180be88175e5eab9c88" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
        <type>double</type>
        <definition>double BM::_ll</definition>
        <argsstring>() const </argsstring>
        <name>_ll</name>
        <briefdescription>
<para>access function </para>        </briefdescription>
        <detaileddescription>
        </detaileddescription>
        <inbodydescription>
        </inbodydescription>
        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="289" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="289" bodyend="289"/>
        <references refid="classBM_15623fef6572a08c2b53b8c87b82dc979" compoundref="libBM_8h" startline="266">BM::ll</references>
      </memberdef>
      <memberdef kind="function" id="classBMcond_13fa60348b2da6b4208bb95b8d146900a" prot="public" static="no" const="yes" explicit="no" inline="yes" virt="non-virtual">
        <type>const <ref refid="classRV" kindref="compound">RV</ref> &amp;</type>
        <definition>const RV&amp; BMcond::_rvc</definition>
        <argsstring>() const </argsstring>
        <name>_rvc</name>
        <briefdescription>
<para>access function </para>        </briefdescription>
        <detaileddescription>
        </detaileddescription>
        <inbodydescription>
        </inbodydescription>
        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="313" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="313" bodyend="313"/>
        <references refid="classBMcond_19ba793c8ec453f04d372d17195ed8dec" compoundref="libBM_8h" startline="304">BMcond::rvc</references>
      </memberdef>
      </sectiondef>
      <sectiondef kind="protected-attrib">
      <memberdef kind="variable" id="classKalmanFull_1c5353e66238ed717dba79e0499118226" prot="protected" static="no" mutable="no">
        <type>int</type>
        <definition>int KalmanFull::dimx</definition>
        <argsstring></argsstring>
        <name>dimx</name>
        <briefdescription>
        </briefdescription>
        <detaileddescription>
        </detaileddescription>
        <inbodydescription>
        </inbodydescription>
        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="29" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="29" bodyend="-1"/>
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        <type>int</type>
        <definition>int KalmanFull::dimy</definition>
        <argsstring></argsstring>
        <name>dimy</name>
        <briefdescription>
        </briefdescription>
        <detaileddescription>
        </detaileddescription>
        <inbodydescription>
        </inbodydescription>
        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="29" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="29" bodyend="-1"/>
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        <type>int</type>
        <definition>int KalmanFull::dimu</definition>
        <argsstring></argsstring>
        <name>dimu</name>
        <briefdescription>
        </briefdescription>
        <detaileddescription>
        </detaileddescription>
        <inbodydescription>
        </inbodydescription>
        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="29" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="29" bodyend="-1"/>
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        <type>mat</type>
        <definition>mat KalmanFull::A</definition>
        <argsstring></argsstring>
        <name>A</name>
        <briefdescription>
        </briefdescription>
        <detaileddescription>
        </detaileddescription>
        <inbodydescription>
        </inbodydescription>
        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="30" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="30" bodyend="-1"/>
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        <type>mat</type>
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        <name>B</name>
        <briefdescription>
        </briefdescription>
        <detaileddescription>
        </detaileddescription>
        <inbodydescription>
        </inbodydescription>
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        <type>mat</type>
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        <argsstring></argsstring>
        <name>C</name>
        <briefdescription>
        </briefdescription>
        <detaileddescription>
        </detaileddescription>
        <inbodydescription>
        </inbodydescription>
        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="30" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="30" bodyend="-1"/>
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        <name>D</name>
        <briefdescription>
        </briefdescription>
        <detaileddescription>
        </detaileddescription>
        <inbodydescription>
        </inbodydescription>
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        <name>R</name>
        <briefdescription>
        </briefdescription>
        <detaileddescription>
        </detaileddescription>
        <inbodydescription>
        </inbodydescription>
        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="30" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="30" bodyend="-1"/>
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        <type>mat</type>
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        <argsstring></argsstring>
        <name>Q</name>
        <briefdescription>
        </briefdescription>
        <detaileddescription>
        </detaileddescription>
        <inbodydescription>
        </inbodydescription>
        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="30" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="30" bodyend="-1"/>
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        <type>mat</type>
        <definition>mat KalmanFull::_Pp</definition>
        <argsstring></argsstring>
        <name>_Pp</name>
        <briefdescription>
        </briefdescription>
        <detaileddescription>
        </detaileddescription>
        <inbodydescription>
        </inbodydescription>
        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="33" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="33" bodyend="-1"/>
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        <type>mat</type>
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        <name>_Ry</name>
        <briefdescription>
        </briefdescription>
        <detaileddescription>
        </detaileddescription>
        <inbodydescription>
        </inbodydescription>
        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="33" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="33" bodyend="-1"/>
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        <type>mat</type>
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        <argsstring></argsstring>
        <name>_iRy</name>
        <briefdescription>
        </briefdescription>
        <detaileddescription>
        </detaileddescription>
        <inbodydescription>
        </inbodydescription>
        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="33" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="33" bodyend="-1"/>
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        <type>mat</type>
        <definition>mat KalmanFull::_K</definition>
        <argsstring></argsstring>
        <name>_K</name>
        <briefdescription>
        </briefdescription>
        <detaileddescription>
        </detaileddescription>
        <inbodydescription>
        </inbodydescription>
        <location file="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" line="33" bodyfile="/home/smidl/work/git/mixpp/bdm/estim/libKF.h" bodystart="33" bodyend="-1"/>
      </memberdef>
      <memberdef kind="variable" id="classBM_1bf6fb59b30141074f8ee1e2f43d03129" prot="protected" static="no" mutable="no">
        <type>bool</type>
        <definition>bool BM::evalll</definition>
        <argsstring></argsstring>
        <name>evalll</name>
        <briefdescription>
<para>If true, the filter will compute likelihood of the data record and store it in <computeroutput>ll</computeroutput> . Set to false if you want to save time. </para>        </briefdescription>
        <detaileddescription>
        </detaileddescription>
        <inbodydescription>
        </inbodydescription>
        <location file="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" line="268" bodyfile="/home/smidl/work/git/mixpp/bdm/stat/libBM.h" bodystart="268" bodyend="-1"/>
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