Changeset 279 for pmsm/old/pmsm_mix.cpp

Timestamp:

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

Author:

smidl

Message:

Transition of pmsm and libKF

Location:

pmsm/old

Files:

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

pmsm/old/pmsm_mix.cpp

@@ -57 +57 @@
         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 ( &fxu,&hxu,Q,R);
 
         RV rQR( "{Q R }", "4 2 ");
-        EKFful_unQR EKU (rx,ry,ru,rQR);
+        EKFful_unQR EKU;
         EKU.set_est ( mu0,  1*ones ( 4 ) );
         EKU.set_parameters ( &fxu,&hxu,diag(Qdiag),diag(Rdiag) );
 
         //QU model
-        egamma Gcom(rQR);Gcom.set_parameters(ones(6),vec("1 1 1e4 1e10 1 1"));
+        egamma Gcom;Gcom.set_parameters(ones(6),vec("1 1 1e4 1e10 1 1"));
 /*      cout << Gcom.mean() <<endl;
         cout << Gcom.sample() <<endl;*/
-        euni Ucom(rQR); Ucom.set_parameters(zeros(6),vec("60 60 453 0.03 100 100"));
+        euni Ucom; Ucom.set_parameters(zeros(6),vec("60 60 453 0.03 100 100"));
 /*      cout << Ucom.mean() <<endl;
         cout << Ucom.sample() <<endl;*/
@@ -76 +76 @@
         Coms(0) = &Gcom;
         Coms(1) = &Ucom;
-        emix Eevol(rQR);        Eevol.set_parameters("0.1 0.9", Coms);
+        emix Eevol;     Eevol.set_parameters("0.1 0.9", Coms);
 //      cout << Eevol.sample() <<endl;
 
         mepdf evolQR(&Eevol);
-        MPF<EKFful_unQR> M ( rx,rQR, evolQR, evolQR, Npar, EKU );
-        M.set_est ( evolQR.posterior() );
+        MPF<EKFful_unQR> M (  &evolQR, &evolQR, Npar, EKU );
+        M.set_est ( evolQR._epdf() );
 
         const epdf& Efix_ep = Efix.posterior();