Changeset 279 for pmsm/old/pmsm_sim.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_sim.cpp (moved) (moved from pmsm/pmsm_sim.cpp) (2 diffs)

pmsm/old/pmsm_sim.cpp

@@ -25 +25 @@
 public:
         //! Default constructor
-        EKF_unQ ( RV rx, RV ry,RV ru,RV rQ ) :EKFCh ( rx,ry,ru ),BMcond ( rQ ) {};
         void condition ( const vec &Q0 ) {
                 Q.setD ( Q0,0 );
@@ -53 +52 @@
         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 ( 1*ones ( 4 ) ) );
 
         RV rQ ( "{Q }","2" );
-        EKF_unQ KFEp ( rx,ry,ru,rQ );
+        EKF_unQ KFEp;
         KFEp.set_parameters ( &fxu,&hxu,Q,R );
         KFEp.set_est ( mu0, chmat ( zeros ( 4 ) ) );
 
-        mgamma evolQ ( rQ,rQ );
-        MPF<EKF_unQ> M ( rx,rQ,evolQ,evolQ,Npart,KFEp );
+        mgamma evolQ ;
+        MPF<EKF_unQ> M (&evolQ,&evolQ,Npart,KFEp );
         // initialize
-        evolQ.set_parameters ( 10.0 ); //sigma = 1/10 mu
+        evolQ.set_parameters ( 10.0, "0.01 0.01" ); //sigma = 1/10 mu
         evolQ.condition ( "0.01 0.01" ); //Zdenek default
-        epdf& pfinit=evolQ.posterior();
+        epdf& pfinit=evolQ._epdf();
         M.set_est ( pfinit );
-        evolQ.set_parameters ( 10.0 );
+        evolQ.set_parameters ( 10.0,  "0.01 0.01");
 
         //