Changeset 231

Timestamp:

01/15/09 10:53:56 (15 years ago)

Author:

smidl

Message:

clean up

Location:

bdm/estim

Files:

• ekf_templ.h (modified) (1 diff)
• libKF.cpp (modified) (1 diff)
• libPF.h (modified) (3 diffs)

bdm/estim/ekf_templ.h

@@ -41 +41 @@
 };
 
+//!Extended Kalman filter with unknown parameters in \c IM
+class EKFCh_cond : public EKFCh , public BMcond {
+        public:
+        //! Default constructor
+                EKFCh_cond ( RV rx, RV ry,RV ru,RV rC ) :EKFCh ( rx,ry,ru ),BMcond ( rC ) {};
+                void condition ( const vec &val ) {
+                        pfxu->condition ( val );
+                };
+};
+
 #endif //EKF_TEMP_H

bdm/estim/libKF.cpp

@@ -70 +70 @@
         dimx = rv.count();
         dimy = phxu0->_dimy();
-        dimu = phxu0->_dimu();
+        dimu = pfxu0->_dimu();
 
         A.set_size(dimx,dimx);

bdm/estim/libPF.h

@@ -142 +142 @@
         //!Access function
         BM* _BM(int i){return Bms[i];}
-//SimStr:
-        double SSAT;
 };
 
@@ -153 +151 @@
         ivec ind;
         double mlls=-std::numeric_limits<double>::infinity();
-
-        // StrSim:06
-        double sumLWL=0.0;
-        double sumL2WL=0.0;
-        double WL = 0.0;
 
         #pragma omp parallel for
@@ -167 +160 @@
                 lls ( i ) = Bms[i]->_ll(); // lls above is also in proposal her must be lls(i) =, not +=!!
                 if ( lls ( i ) >mlls ) mlls=lls ( i ); //find maximum likelihood (for numerical stability)
-        }
-
-        if ( false) {
-                #pragma omp parallel for reduction(+:sumLWL,sumL2WL) private(WL)
-                for ( i=0;i<n;i++ ) {
-                        WL = _w ( i ) *exp ( llsP ( i ) ); //using old weights!
-                        sumLWL += exp ( lls ( i ) ) *WL;
-                        sumL2WL += exp ( 2*lls ( i ) ) *WL;
-                }
-                SSAT  = sumL2WL/ ( sumLWL*sumLWL );
         }