Changeset 271 for pmsm

Timestamp:

02/16/09 10:03:13 (16 years ago)

Author:

smidl

Message:

Next major revision

Location:

pmsm

Files:

• mpf_load.cpp (modified) (2 diffs)
• mpf_test.cpp (modified) (1 diff)
• mpf_u_delta.cpp (modified) (1 diff)
• mpf_u_delta_real.cpp (modified) (1 diff)
• mpf_u_weight.cpp (modified) (1 diff)
• pmsm_mix.cpp (modified) (1 diff)
• pmsm_sim.cpp (modified) (2 diffs)
• pmsm_sim2.cpp (modified) (1 diff)
• pmsm_unkQ.cpp (modified) (1 diff)
• pmsm_unkQpf.cpp (modified) (1 diff)
• sim_var.cpp (modified) (1 diff)
• sim_var_arx.cpp (modified) (1 diff)
• simulator_zdenek/ekf_example/ekf_obj.h (modified) (1 diff)

pmsm/mpf_load.cpp

@@ -76 +76 @@
         
         MPF<EKFCh_cond> M ( rx,rMz,evolMz,evolMz, Npart, Ep  );
-        M.set_est(evolMz._epdf());
+        M.set_est(evolMz.posterior());
 
         //LOG
@@ -104 +104 @@
                 //LOG
                 L.logit(X_log,  vec(x,4)); //vec from C-array
-                L.logit(E_log, Efix._epdf().mean()); 
-                L.logit(M_log, M._epdf().mean()); 
+                L.logit(E_log, Efix.posterior().mean()); 
+                L.logit(M_log, M.posterior().mean()); 
                 
                 L.step();

pmsm/mpf_test.cpp

@@ -64 +64 @@
         //
 
-        const epdf& KFEep = KFE._epdf();
-        const epdf& Mep = M._epdf();
+        const epdf& KFEep = KFE.posterior();
+        const epdf& Mep = M.posterior();
 
         dirfilelog L("exp/mpf_test",100);

pmsm/mpf_u_delta.cpp

@@ -114 +114 @@
         evolUd.set_parameters ( eye ( 3 ), zeros(3), ldmat ( vec( "1e-4 1e-4 10e-4" )));
         evolUd.condition ( Ud0 );
-        epdf& pfinit=evolUd._epdf();
+        epdf& pfinit=evolUd.posterior();
         M.set_est ( pfinit );
         evolUd.set_parameters ( eye ( 3 ), zeros(3), ldmat ( vec(" 7e-4 7e-4 1e-5" )));

pmsm/mpf_u_delta_real.cpp

@@ -98 +98 @@
         evolUd.set_parameters ( eye ( 2 ), vec_2 ( 0.0,0.0 ), ldmat ( 10.0*eye ( 2 ) ) );
         evolUd.condition ( Ud0 );
-        epdf& pfinit=evolUd._epdf();
+        epdf& pfinit=evolUd.posterior();
         M.set_est ( pfinit );
         evolUd.set_parameters ( eye ( 2 ), vec_2 ( 0.0,0.0 ), ldmat ( 0.005*eye ( 2 ) ) );

pmsm/mpf_u_weight.cpp

@@ -107 +107 @@
         evolW.set_parameters ( 10.0, W0, 1.0 ); //sigma = 1/10 mu
         evolW.condition ( W0 );
-        epdf& pfinit=evolW._epdf();
+        epdf& pfinit=evolW.posterior();
         M.set_est ( pfinit );
         evolW.set_parameters ( 100.0, W0, 0.99 ); //sigma = 1/10 mu

pmsm/pmsm_mix.cpp

@@ -81 +81 @@
         mepdf evolQR(&Eevol);
         MPF<EKFful_unQR> M ( rx,rQR, evolQR, evolQR, Npar, EKU );
-        M.set_est ( evolQR._epdf() );
+        M.set_est ( evolQR.posterior() );
 
-        const epdf& Efix_ep = Efix._epdf();
-        const epdf& M_ep = M._epdf();
+        const epdf& Efix_ep = Efix.posterior();
+        const epdf& M_ep = M.posterior();
         
         //LOG

pmsm/pmsm_sim.cpp

@@ -67 +67 @@
         evolQ.set_parameters ( 10.0 ); //sigma = 1/10 mu
         evolQ.condition ( "0.01 0.01" ); //Zdenek default
-        epdf& pfinit=evolQ._epdf();
+        epdf& pfinit=evolQ.posterior();
         M.set_est ( pfinit );
         evolQ.set_parameters ( 10.0 );
@@ -73 +73 @@
         //
 
-        const epdf& KFEep = KFE._epdf();
-        const epdf& Mep = M._epdf();
+        const epdf& KFEep = KFE.posterior();
+        const epdf& Mep = M.posterior();
 
         mat Xt=zeros ( Ndat ,9 ); //true state from simulator

pmsm/pmsm_sim2.cpp

@@ -103 +103 @@
         evolQ.set_parameters ( 1000.0 ,Qdiag, 0.5); //sigma = 1/10 mu
         evolQ.condition ( Qdiag ); //Zdenek default
-        epdf& pfinit=evolQ._epdf();
+        epdf& pfinit=evolQ.posterior();
         M.set_est ( pfinit );
         evolQ.set_parameters ( 100000.0, Qdiag, 0.9999 );
         //
-        const epdf& KFEep = KFE._epdf();
-        const epdf& Mep = M._epdf();
+        const epdf& KFEep = KFE.posterior();
+        const epdf& Mep = M.posterior();
 
         int X_log = L.add(rx,"X");

pmsm/pmsm_unkQ.cpp

@@ -62 +62 @@
         }
 
-        const epdf& KFEep = KFE._epdf();
+        const epdf& KFEep = KFE.posterior();
 
         //simulator values

pmsm/pmsm_unkQpf.cpp

@@ -62 +62 @@
         MPF<EKF_unQ> M ( rx,rQ,evolQ,evolQ,100,KFE );
 
-        const epdf& KFEep = KFE._epdf();
-        const epdf& Mep = M._epdf();
+        const epdf& KFEep = KFE.posterior();
+        const epdf& Mep = M.posterior();
         // initialize
         evolQ.set_parameters ( 1.0 ); //sigma = 1/10 mu
         evolQ.condition ( "0.5 0.5" );
-        const epdf& pfinit=evolQ._epdf();
+        const epdf& pfinit=evolQ.posterior();
         M.set_est ( pfinit );
         evolQ.set_parameters ( 1000.0 ); //sigma = 1/10 mu

pmsm/sim_var.cpp

@@ -75 +75 @@
         Edi.set_parameters ( &fxu,&hxu,Q,R);
 
-        const epdf& Efix_ep = Efix._epdf();
-        const epdf& Eop_ep = Eop._epdf();
-        const epdf& Edi_ep = Edi._epdf();
+        const epdf& Efix_ep = Efix.posterior();
+        const epdf& Eop_ep = Eop.posterior();
+        const epdf& Edi_ep = Edi.posterior();
         
         //LOG

pmsm/sim_var_arx.cpp

@@ -46 +46 @@
         ARX Ar_a ( rgr,V0,nu0 ,0.95 );
         ARX Ar_b ( rgr,V0,nu0 ,0.95 );
-        const epdf& pA= Ar_a._epdf();
-        const epdf& pB= Ar_b._epdf();
+        const epdf& pA= Ar_a.posterior();
+        const epdf& pB= Ar_b.posterior();
 
         RV rta ( "{th_a }",vec_1 ( rglen ) );

pmsm/simulator_zdenek/ekf_example/ekf_obj.h

@@ -86 +86 @@
         void bayes ( const vec &dt );
         //!dummy!
-        epdf& _epdf(){return E;};
+        epdf& posterior(){return E;};
         void condition ( const vec &Q0 ) {