Changeset 225 for bdm/estim/libKF.cpp
- Timestamp:
- 01/12/09 13:28:18 (15 years ago)
- Files:
-
- 1 modified
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bdm/estim/libKF.cpp
r215 r225 202 202 203 203 // mat Sttm = _P->to_mat(); 204 // cout << preA <<endl; 205 // cout << "_mu:" << _mu <<endl; 204 206 205 207 // if ( !qr ( preA,Q,postA ) ) it_warning ( "QR in kalman unstable!" ); 206 208 if ( !qr ( preA,postA ) ) {it_warning ( "QR in kalman unstable!" );} 209 207 210 208 211 ( _Ry._Ch() ) =postA ( 0,dimy-1, 0,dimy-1 ); … … 229 232 // cout << "P:" <<_P.to_mat() <<endl; 230 233 // cout << "Ry:" <<_Ry.to_mat() <<endl; 231 // cout << "_K:" <<_K <<endl; 234 // cout << "_mu:" <<_mu <<endl; 235 // cout << "dt:" <<dt <<endl; 232 236 233 237 if ( evalll==true ) { //likelihood of observation y