Changeset 279 for bdm/estim/libKF.cpp

Timestamp:

02/24/09 14:12:19 (15 years ago)

Author:

smidl

Message:

Transition of pmsm and libKF

Files:

• bdm/estim/libKF.cpp (modified) (2 diffs)

bdm/estim/libKF.cpp

@@ -164 +164 @@
 
 
-EKFCh::EKFCh ( ) : KalmanCh (  ) {}
 
 void EKFCh::set_parameters ( diffbifn* pfxu0,  diffbifn* phxu0,const chmat Q0,const chmat R0 ) {
@@ -170 +169 @@
         phxu = phxu0;
 
+        dimx = pfxu0->_dimy();
+        dimy = phxu0->_dimy();
+        dimu = pfxu0->_dimu();
+        // set size of mu - just for constant terms of A and C 
+        _mu=zeros(dimx);
+        A=zeros(dimx,dimx);
+        C=zeros(dimy,dimx);
+        preA=zeros(dimy+dimx+dimx, dimy+dimx);
+        
         //initialize matrices A C, later, these will be only updated!
         pfxu->dfdx_cond ( _mu,zeros ( dimu ),A,true );