Changeset 279 for pmsm/mpf_test.cpp

Timestamp:

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

Author:

smidl

Message:

Transition of pmsm and libKF

Files:

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

pmsm/mpf_test.cpp

@@ -45 +45 @@
         chmat Q ( Qdiag );
         chmat R ( Rdiag );
-        EKFCh KFE ( rx,ry,ru );
+        EKFCh KFE ;
         KFE.set_parameters ( &fxu,&hxu,Q,R );
         KFE.set_est ( mu0, chmat ( zeros ( 4 ) ) );
 
         RV rQ ( "{Q }","4" );
-        EKFCh_unQ KFEp ( rx,ry,ru,rQ );
+        EKFCh_unQ KFEp ;
         KFEp.set_parameters ( &fxu,&hxu,Q,R );
         KFEp.set_est ( mu0, chmat ( zeros ( 4 ) ) );
 
         //mgamma_fix evolQ ( rQ,rQ );
-        migamma_fix evolQ ( rQ,rQ );
-        MPF<EKFCh_unQ> M ( rx,rQ,evolQ,evolQ,Npart,KFEp );
+        migamma_fix evolQ ;
+        MPF<EKFCh_unQ> M ( &evolQ,&evolQ,Npart,KFEp );
         // initialize
         evolQ.set_parameters ( 0.1, 10*Qdiag, 1.0); //sigma = 1/10 mu