| 35 | | <a name="l00031"></a>00031 |
| 36 | | <a name="l00032"></a>00032 <span class="preprocessor">#endif //EKF_TEMP_H</span> |
| | 35 | <a name="l00032"></a><a class="code" href="classEKFCh__unQ.html">00032</a> <span class="keyword">class </span><a class="code" href="classEKFCh__unQ.html" title="Extended Kalman filter in Choleski form with unknown Q.">EKFCh_unQ</a> : <span class="keyword">public</span> <a class="code" href="classEKFCh.html" title="Extended Kalman Filter in Square root.">EKFCh</a> , <span class="keyword">public</span> <a class="code" href="classBMcond.html" title="Conditional Bayesian Filter.">BMcond</a> { |
| | 36 | <a name="l00033"></a>00033 <span class="keyword">public</span>: |
| | 37 | <a name="l00035"></a><a class="code" href="classEKFCh__unQ.html#53936bd5a157cc210dccb56b5ef038b0">00035</a> <a class="code" href="classEKFCh__unQ.html#53936bd5a157cc210dccb56b5ef038b0" title="Default constructor.">EKFCh_unQ</a> ( <a class="code" href="classRV.html" title="Class representing variables, most often random variables.">RV</a> rx, <a class="code" href="classRV.html" title="Class representing variables, most often random variables.">RV</a> ry,<a class="code" href="classRV.html" title="Class representing variables, most often random variables.">RV</a> ru,<a class="code" href="classRV.html" title="Class representing variables, most often random variables.">RV</a> rQ ) :<a class="code" href="classEKFCh.html" title="Extended Kalman Filter in Square root.">EKFCh</a> ( rx,ry,ru ),<a class="code" href="classBMcond.html" title="Conditional Bayesian Filter.">BMcond</a> ( rQ ) {}; |
| | 38 | <a name="l00036"></a><a class="code" href="classEKFCh__unQ.html#dd27c8acf387887d477bf62bbaebe1ce">00036</a> <span class="keywordtype">void</span> <a class="code" href="classEKFCh__unQ.html#dd27c8acf387887d477bf62bbaebe1ce" title="Substitute val for rvc.">condition</a> ( <span class="keyword">const</span> vec &Q0 ) { |
| | 39 | <a name="l00037"></a>00037 <a class="code" href="classKalman.html#9b69015c800eb93f3ee49da23a6f55d9" title="Matrix Q in square-root form.">Q</a>.<a class="code" href="classchmat.html#a4fc7f9b0539b97c414442a22f3db6e8" title="Access functions.">setD</a> ( Q0,0 ); |
| | 40 | <a name="l00038"></a>00038 <span class="comment">//from EKF</span> |
| | 41 | <a name="l00039"></a>00039 <a class="code" href="classKalmanCh.html#94ee9da75b0e0f632e4a354988ca3798" title="pre array (triangular matrix)">preA</a>.set_submatrix ( <a class="code" href="classKalman.html#ba17b956df1e38b31fbbc299c8213b6a" title="cache of rvy.count()">dimy</a>+<a class="code" href="classKalman.html#39c8c403b46fa3b8c7da77cb2e3729eb" title="cache of rv.count()">dimx</a>,<a class="code" href="classKalman.html#ba17b956df1e38b31fbbc299c8213b6a" title="cache of rvy.count()">dimy</a>,<a class="code" href="classKalman.html#9b69015c800eb93f3ee49da23a6f55d9" title="Matrix Q in square-root form.">Q</a>.<a class="code" href="classchmat.html#9c50d31c999d85d8e9d8cf2b69b6ac8c" title="Access function.">_Ch</a>() ); |
| | 42 | <a name="l00040"></a>00040 }; |
| | 43 | <a name="l00041"></a>00041 }; |
| | 44 | <a name="l00042"></a>00042 |
| | 45 | <a name="l00044"></a><a class="code" href="classEKFCh__cond.html">00044</a> <span class="keyword">class </span><a class="code" href="classEKFCh__cond.html" title="Extended Kalman filter with unknown parameters in IM.">EKFCh_cond</a> : <span class="keyword">public</span> <a class="code" href="classEKFCh.html" title="Extended Kalman Filter in Square root.">EKFCh</a> , <span class="keyword">public</span> <a class="code" href="classBMcond.html" title="Conditional Bayesian Filter.">BMcond</a> { |
| | 46 | <a name="l00045"></a>00045 <span class="keyword">public</span>: |
| | 47 | <a name="l00047"></a><a class="code" href="classEKFCh__cond.html#727af5503bba3063c115994dd6adb059">00047</a> <a class="code" href="classEKFCh__cond.html#727af5503bba3063c115994dd6adb059" title="Default constructor.">EKFCh_cond</a> ( <a class="code" href="classRV.html" title="Class representing variables, most often random variables.">RV</a> rx, <a class="code" href="classRV.html" title="Class representing variables, most often random variables.">RV</a> ry,<a class="code" href="classRV.html" title="Class representing variables, most often random variables.">RV</a> ru,<a class="code" href="classRV.html" title="Class representing variables, most often random variables.">RV</a> rC ) :<a class="code" href="classEKFCh.html" title="Extended Kalman Filter in Square root.">EKFCh</a> ( rx,ry,ru ),<a class="code" href="classBMcond.html" title="Conditional Bayesian Filter.">BMcond</a> ( rC ) {}; |
| | 48 | <a name="l00048"></a><a class="code" href="classEKFCh__cond.html#93ccb6731b68f28e0fb43393d8c66e1d">00048</a> <span class="keywordtype">void</span> <a class="code" href="classEKFCh__cond.html#93ccb6731b68f28e0fb43393d8c66e1d" title="Substitute val for rvc.">condition</a> ( <span class="keyword">const</span> vec &val ) { |
| | 49 | <a name="l00049"></a>00049 <a class="code" href="classEKFCh.html#f4d595c2a674f8c6831eb1909bf21757" title="Internal Model f(x,u).">pfxu</a>-><a class="code" href="classfnc.html#d28babf615a7240c34ee57779250f602" title="function substitutes given value into an appropriate position">condition</a> ( val ); |
| | 50 | <a name="l00050"></a>00050 }; |
| | 51 | <a name="l00051"></a>00051 }; |
| | 52 | <a name="l00052"></a>00052 |
| | 53 | <a name="l00053"></a>00053 <span class="preprocessor">#endif //EKF_TEMP_H</span> |
