Changeset 270 for bdm/estim/libKF.cpp

Timestamp:

02/16/09 10:02:08 (15 years ago)

Author:

smidl

Message:

Changes in the very root classes!
* rv and rvc are no longer compulsory,
* samplecond does not return ll
* BM has drv

Files:

• bdm/estim/libKF.cpp (modified) (5 diffs)

bdm/estim/libKF.cpp

@@ -62 +62 @@
 
  /////////////////////////////// EKFS
-EKFfull::EKFfull ( RV rvx0, RV rvy0, RV rvu0 ) : BM ( rvx0 ),E(rvx0) {};
+EKFfull::EKFfull ( ) : BM (),E() {};
 
 void EKFfull::set_parameters ( diffbifn* pfxu0,  diffbifn* phxu0,const mat Q0,const mat R0 ) {
@@ -68 +68 @@
         phxu = phxu0;
 
-        dimx = rv.count();
+        dimx = pfxu0->_dimx();
         dimy = phxu0->_dimy();
         dimu = pfxu0->_dimu();
@@ -163 +163 @@
 
 
-EKFCh::EKFCh ( RV rvx0, RV rvy0, RV rvu0 ) : KalmanCh ( rvx0,rvy0,rvu0 ) {}
+EKFCh::EKFCh ( ) : KalmanCh (  ) {}
 
 void EKFCh::set_parameters ( diffbifn* pfxu0,  diffbifn* phxu0,const chmat Q0,const chmat R0 ) {
@@ -241 +241 @@
 
 void KFcondQR::condition ( const vec &QR ) {
-        it_assert_debug ( QR.length() == ( rvc.count() ),"KFcondRQ: conditioning by incompatible vector" );
+        it_assert_debug ( QR.length() == ( dimx+dimy ),"KFcondRQ: conditioning by incompatible vector" );
 
         Q.setD ( QR ( 0, dimx-1 ) );
@@ -248 +248 @@
 
 void KFcondR::condition ( const vec &R0 ) {
-        it_assert_debug ( R0.length() == ( rvc.count() ),"KFcondR: conditioning by incompatible vector" );
+        it_assert_debug ( R0.length() == ( dimy ),"KFcondR: conditioning by incompatible vector" );
 
         R.setD ( R0 );