Changeset 279 for pmsm/mpf_load.cpp

Timestamp:

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

Author:

smidl

Message:

Transition of pmsm and libKF

Files:

• pmsm/mpf_load.cpp (modified) (1 diff)

pmsm/mpf_load.cpp

@@ -62 +62 @@
         mat Q =diag( Qdiag );
         mat R =diag ( Rdiag );
-        EKFfull Efix ( rx,ry,ru );
+        EKFfull Efix;
         Efix.set_est ( mu0, 1*eye ( 4 )  );
         Efix.set_parameters ( &fxu0,&hxu,diag(Qdiag0),R);
 
-        RV rMz=RV("{Mz }");
-        mlnorm<ldmat> evolMz(rMz,rMz);
+        mlnorm<ldmat> evolMz;
         evolMz.set_parameters(mat("1"),vec("0"),ldmat(1.0*vec("1")));
         evolMz.condition(" 0.0");
         
-        EKFCh_cond Ep ( rx,ry,ru,rMz );
+        EKFCh_cond Ep;
         Ep.set_est ( mu0, 1*eye ( 4 ) );
         Ep.set_parameters ( &fxu,&hxu,Q,R);
         
-        MPF<EKFCh_cond> M ( rx,rMz,evolMz,evolMz, Npart, Ep  );
-        M.set_est(evolMz.posterior());
+        MPF<EKFCh_cond> M ( &evolMz, &evolMz, Npart, Ep  );
+        M.set_est(evolMz._epdf());
 
         //LOG
         int X_log = L.add(rx,"X");
         int E_log = L.add(rx,"EX");
-        int M_log = L.add(concat(rMz,rx),"MX");
+        int M_log = L.add(concat(RV("Mz",1),rx),"MX");
         L.init();