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# ekf_templ.h

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    00001
    00013 #ifndef EKF_TEMP_H
    00014 #define EKF_TEMP_H
    00015
    00016 #include "libKF.h"
    00017
    00018 namespace bdm{
    00019
    00021 class EKFful_unQR : public EKFfull , public BMcond {
    00022 public:
    00024         EKFful_unQR ( RV rx, RV ry,RV ru,RV rQR ) :EKFfull ( rx,ry,ru ),BMcond ( rQR ) {};
    00025         void condition ( const vec &QR0 ) {
    00026                 Q=diag(QR0(0,dimx-1));
    00027                 R=diag(QR0(dimx,dimx+dimy-1));
    00028         };
    00029 };
    00030
    00032 class EKFCh_unQ : public EKFCh , public BMcond {
    00033 public:
    00035         EKFCh_unQ ( RV rx, RV ry,RV ru,RV rQ ) :EKFCh ( rx,ry,ru ),BMcond ( rQ ) {};
    00036         void condition ( const vec &Q0 ) {
    00037                 Q.setD ( Q0,0 );
    00038                 //from EKF
    00039                 preA.set_submatrix ( dimy+dimx,dimy,Q._Ch() );
    00040         };
    00041 };
    00042
    00044 class EKFCh_cond : public EKFCh , public BMcond {
    00045         public:
    00047                 EKFCh_cond ( RV rx, RV ry,RV ru,RV rC ) :EKFCh ( rx,ry,ru ),BMcond ( rC ) {};
    00048                 void condition ( const vec &val ) {
    00049                         pfxu->condition ( val );
    00050                 };
    00051 };
    00052
    00053 }
    00054 #endif //EKF_TEMP_H