Changeset 234 for pmsm

Timestamp:

01/15/09 10:54:16 (15 years ago)

Author:

smidl

Message:

doc

Files:

• pmsm/mpf_u_delta_real.cpp (modified) (3 diffs)

pmsm/mpf_u_delta_real.cpp

@@ -17 +17 @@
 #include <estim/libKF.h>
 #include <estim/libPF.h>
+#include <estim/ekf_templ.h>
 #include <stat/libFN.h>
 
@@ -24 +25 @@
 
 using namespace itpp;
-
-//!Extended Kalman filter with unknown \c Q
-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 );
-        };
-};
 
 class IMpmsm_delta :  public IMpmsm {
@@ -109 +100 @@
         epdf& pfinit=evolUd._epdf();
         M.set_est ( pfinit );
-        evolUd.set_parameters ( eye ( 2 ), vec_2 ( 0.0,0.0 ), ldmat ( 0.001*eye ( 2 ) ) );
+        evolUd.set_parameters ( eye ( 2 ), vec_2 ( 0.0,0.0 ), ldmat ( 0.007*eye ( 2 ) ) );
 
         mat Xt=zeros ( Ndat ,4 ); //true state from simulator