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Timestamp:
02/24/09 14:12:19 (15 years ago)
Author:
smidl
Message:

Transition of pmsm and libKF

Location:
pmsm/old
Files:
1 added
1 moved

Legend:

Unmodified
Added
Removed

  • pmsm/old/mpf_u_delta_real.cpp

    r278 r279  
    8383        chmat Q ( Qdiag ); 
    8484        chmat R ( Rdiag ); 
    85         EKFCh KFE ( rx,ry,ru ); 
     85        EKFCh KFE ; 
    8686        KFE.set_parameters ( &fxu0,&hxu,Q,R ); 
    8787        KFE.set_est ( mu0, chmat ( ones ( 4 ) ) ); 
    8888 
    8989        RV rUd ( "{ud }", "2" ); 
    90         EKFCh_cond KFEp ( rx,ry,ru,rUd ); 
     90        EKFCh_cond KFEp ; 
    9191        KFEp.set_parameters ( &fxu,&hxu,Q,R ); 
    9292        KFEp.set_est ( mu0, chmat ( ones ( 4 ) ) ); 
    9393 
    94         mlnorm<ldmat> evolUd ( rUd,rUd ); 
    95         MPF<EKFCh_cond> M ( rx,rUd,evolUd,evolUd,Npart,KFEp ); 
     94        mlnorm<ldmat> evolUd ; 
     95        MPF<EKFCh_cond> M ( &evolUd,&evolUd,Npart,KFEp ); 
    9696        // initialize 
    9797        vec Ud0="0 0"; 
    9898        evolUd.set_parameters ( eye ( 2 ), vec_2 ( 0.0,0.0 ), ldmat ( 10.0*eye ( 2 ) ) ); 
    9999        evolUd.condition ( Ud0 ); 
    100         epdf& pfinit=evolUd.posterior(); 
     100        epdf& pfinit=evolUd._epdf(); 
    101101        M.set_est ( pfinit ); 
    102102        evolUd.set_parameters ( eye ( 2 ), vec_2 ( 0.0,0.0 ), ldmat ( 0.005*eye ( 2 ) ) );