Changeset 215 for bdm

Timestamp:

11/27/08 23:32:45 (16 years ago)

Author:

smidl

Message:

PMSM new sim.cpp

Location:

bdm

Files:

• estim/libKF.cpp (modified) (2 diffs)
• estim/libKF.h (modified) (1 diff)
• stat/libEF.h (modified) (1 diff)

bdm/estim/libKF.cpp

@@ -153 +153 @@
         _mu +=  ( _K ) * pom;
 
-                cout << "P:" <<_P.to_mat() <<endl;
+/*              cout << "P:" <<_P.to_mat() <<endl;
                 cout << "Ry:" <<_Ry.to_mat() <<endl;
-                cout << "_K:" <<_K <<endl;
+                cout << "_K:" <<_K <<endl;*/
         
         if ( evalll==true ) { //likelihood of observation y
@@ -227 +227 @@
         *_mu = pfxu->eval ( *_mu ,u ) + ( _K )* ( y-*_yp );*/
         
-                cout << "P:" <<_P.to_mat() <<endl;
-                cout << "Ry:" <<_Ry.to_mat() <<endl;
-                cout << "_K:" <<_K <<endl;
+//              cout << "P:" <<_P.to_mat() <<endl;
+//              cout << "Ry:" <<_Ry.to_mat() <<endl;
+//              cout << "_K:" <<_K <<endl;
 
         if ( evalll==true ) { //likelihood of observation y

bdm/estim/libKF.h

@@ -189 +189 @@
         const epdf& _epdf()const{return E;};
         const enorm<fsqmat>* _e()const{return &E;};
+        const mat _R(){return P;}
 };
 

bdm/stat/libEF.h

@@ -145 +145 @@
         //! returns pointers to the internal variance and its inverse. Use with Care!
         sq_T& _R() {return R;}
+        const sq_T& _R() const {return R;}
 
         //! access method