Changeset 279 for pmsm/old/mpf_u_delta.cpp

Timestamp:

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

Author:

smidl

Message:

Transition of pmsm and libKF

Location:

pmsm/old

Files:

• . (added)
• mpf_u_delta.cpp (moved) (moved from pmsm/mpf_u_delta.cpp) (2 diffs)

pmsm/old/mpf_u_delta.cpp

@@ -30 +30 @@
 public:
         //! Default constructor
-        EKFCh_du_kQ ( RV rx, RV ry,RV ru,RV rC ) :EKFCh ( rx,ry,ru ),BMcond ( rC ),Qref(rx.count()) {};
+        EKFCh_du_kQ ( ) :EKFCh ( ),BMcond (),Qref() {};
         void set_ref(const chmat &Qref0){Qref=Qref0;}
         void condition ( const vec &val ) {
@@ -98 +98 @@
         mat Q2o=diag(Qdiag);
         chmat R ( Rdiag );
-        EKFCh KFE ( rx,ry,ru );
+        EKFCh KFE ;
         KFE.set_parameters ( &fxu0,&hxu,Q,R );
         KFE.set_est ( mu0, chmat ( ones ( 4 ) ) );
 
         RV rUd ( "{ud k}", "2 1" );
-        EKFCh_du_kQ KFEp ( rx,ry,ru,rUd );
+        EKFCh_du_kQ KFEp ;
         KFEp.set_parameters ( &fxu,&hxu,Q,R );
         KFEp.set_ref(Q);
         KFEp.set_est ( mu0, chmat ( ones ( 4 ) ) );
 
-        mlnorm<ldmat> evolUd ( rUd,rUd );
-        MPF<EKFCh_du_kQ> M ( rx,rUd,evolUd,evolUd,Npart,KFEp );
+        mlnorm<ldmat> evolUd ;
+        MPF<EKFCh_du_kQ> M ( &evolUd,&evolUd,Npart,KFEp );
         // initialize
         vec Ud0="0 0 1.0";
         evolUd.set_parameters ( eye ( 3 ), zeros(3), ldmat ( vec( "1e-4 1e-4 10e-4" )));
         evolUd.condition ( Ud0 );
-        epdf& pfinit=evolUd.posterior();
+        epdf& pfinit=evolUd._epdf();
         M.set_est ( pfinit );
         evolUd.set_parameters ( eye ( 3 ), zeros(3), ldmat ( vec(" 7e-4 7e-4 1e-5" )));