Changeset 279 for pmsm/old/mpf_u_weight.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_weight.cpp (moved) (moved from pmsm/mpf_u_weight.cpp) (2 diffs)

pmsm/old/mpf_u_weight.cpp

@@ -28 +28 @@
 class EKFCh_cond : public EKFCh , public BMcond {
 public:
-        //! Default constructor
-        EKFCh_cond ( RV rx, RV ry,RV ru,RV rC ) :EKFCh ( rx,ry,ru ),BMcond ( rC ) {};
+        //! condition on value of pfxu
         void condition ( const vec &val ) {
                 pfxu->condition ( val );
@@ -92 +91 @@
         chmat Q ( 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 rW ( "{w }" );
-        EKFCh_cond KFEp ( rx,ry,ru,rW );
+        EKFCh_cond KFEp;
         KFEp.set_parameters ( &fxu,&hxu,Q,R );
         KFEp.set_est ( mu0, chmat ( ones ( 4 ) ) );
 
-        mgamma_fix evolW ( rW,rW );
-        MPF<EKFCh_cond> M ( rx,rW,evolW,evolW,Npart,KFEp );
+        mgamma_fix evolW ;
+        MPF<EKFCh_cond> M (&evolW,&evolW,Npart,KFEp );
         // initialize
         vec W0="0.5";
         evolW.set_parameters ( 10.0, W0, 1.0 ); //sigma = 1/10 mu
         evolW.condition ( W0 );
-        epdf& pfinit=evolW.posterior();
+        epdf& pfinit=evolW._epdf();
         M.set_est ( pfinit );
         evolW.set_parameters ( 100.0, W0, 0.99 ); //sigma = 1/10 mu