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    <innerclass refid="classEKFful__unQR" prot="public">EKFful_unQR</innerclass>
    <briefdescription>
<para>Bayesian Filtering for linear Gaussian models (<ref refid="classKalman" kindref="compound">Kalman</ref> Filter) and extensions. </para>    </briefdescription>
    <detaileddescription>
<para><simplesect kind="author"><para>Vaclav Smidl.</para></simplesect>
----------------------------------- BDM++ - C++ library for Bayesian Decision Making under Uncertainty</para><para>Using IT++ for numerical operations ----------------------------------- </para>    </detaileddescription>
    <programlisting>
<codeline lineno="1"></codeline>
<codeline lineno="13"><highlight class="preprocessor">#ifndef<sp/>EKF_TEMP_H</highlight></codeline>
<codeline lineno="14"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>EKF_TEMP_H</highlight></codeline>
<codeline lineno="15"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
<codeline lineno="16"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;<ref refid="libKF_8h" kindref="compound" tooltip="Bayesian Filtering for linear Gaussian models (Kalman Filter) and extensions.">libKF.h</ref>&quot;</highlight><highlight class="normal"></highlight></codeline>
<codeline lineno="17"><highlight class="normal"></highlight></codeline>
<codeline lineno="18"><highlight class="normal"></highlight><highlight class="keyword">using<sp/>namespace<sp/></highlight><highlight class="normal">itpp;</highlight></codeline>
<codeline lineno="19"><highlight class="normal"></highlight></codeline>
<codeline lineno="21" refid="classEKFful__unQR" refkind="compound"><highlight class="keyword">class<sp/></highlight><highlight class="normal"><ref refid="classEKFful__unQR" kindref="compound" tooltip="Extended Kalman filter with unknown Q and R.">EKFful_unQR</ref><sp/>:<sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/><ref refid="classEKFfull" kindref="compound" tooltip="Extended Kalman Filter in full matrices.">EKFfull</ref><sp/>,<sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/><ref refid="classBMcond" kindref="compound" tooltip="Conditional Bayesian Filter.">BMcond</ref><sp/>{</highlight></codeline>
<codeline lineno="22"><highlight class="normal"></highlight><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline>
<codeline lineno="24" refid="classEKFful__unQR_1873e3a72264f6e777c4443220db15d79" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classEKFful__unQR_1873e3a72264f6e777c4443220db15d79" kindref="member" tooltip="Default constructor.">EKFful_unQR</ref><sp/>(<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>rx,<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>ry,<ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>ru,<ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>rQR<sp/>)<sp/>:<ref refid="classEKFfull" kindref="compound" tooltip="Extended Kalman Filter in full matrices.">EKFfull</ref><sp/>(<sp/>rx,ry,ru<sp/>),<ref refid="classBMcond" kindref="compound" tooltip="Conditional Bayesian Filter.">BMcond</ref><sp/>(<sp/>rQR<sp/>)<sp/>{};</highlight></codeline>
<codeline lineno="25" refid="classEKFful__unQR_1b586e534c8a8d219561b0c020329d412" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classEKFful__unQR_1b586e534c8a8d219561b0c020329d412" kindref="member" tooltip="Substitute val for rvc.">condition</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&amp;QR0<sp/>)<sp/>{</highlight></codeline>
<codeline lineno="26"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Q=diag(QR0(0,dimx-1));</highlight></codeline>
<codeline lineno="27"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>R=diag(QR0(dimx,dimx+dimy-1));</highlight></codeline>
<codeline lineno="28"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>};</highlight></codeline>
<codeline lineno="29"><highlight class="normal">};</highlight></codeline>
<codeline lineno="30"><highlight class="normal"></highlight></codeline>
<codeline lineno="31"><highlight class="normal"></highlight></codeline>
<codeline lineno="32"><highlight class="normal"></highlight><highlight class="preprocessor">#endif<sp/>//EKF_TEMP_H</highlight></codeline>
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