Changeset 270 for tests/testKF.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:

• tests/testKF.cpp (modified) (3 diffs)

tests/testKF.cpp

@@ -54 +54 @@
 
         //Chol
-        KalmanCh KF(rx,ry,ru);
+        KalmanCh KF;
         KF.set_parameters(A,B,C,D,chmat(R),chmat(Q));
         KF.set_est(mu0,chmat(P0) ); //prediction!
@@ -63 +63 @@
         //      
         // FSQMAT
-        Kalman<ldmat> KFf(rx,ry,ru);
+        Kalman<ldmat> KFf;
         KFf.set_parameters(A,B,C,D,ldmat(R),ldmat(Q));
         KFf.set_est(mu0,ldmat(P0) );
@@ -77 +77 @@
         
         // EKF
-        bilinfn fxu(rx,ru,A,B);
-        bilinfn hxu(rx,ru,C,D);
-        EKFCh KFE(rx,ry,ru);
+        bilinfn fxu(A,B);
+        bilinfn hxu(C,D);
+        EKFCh KFE;
         KFE.set_parameters(&fxu,&hxu,Q,R);
         KFE.set_est(mu0,chmat(P0));