Changeset 279 for pmsm/old/pmsm_sim2.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_sim2.cpp (moved) (moved from pmsm/pmsm_sim2.cpp) (3 diffs)

pmsm/old/pmsm_sim2.cpp

@@ -27 +27 @@
 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 );
@@ -48 +47 @@
 class EKF_unQful : public EKFfull , public BMcond {
 public:
-        //! Default constructor
-        EKF_unQful ( RV rx, RV ry,RV ru,RV rQ ) :EKFfull ( rx,ry,ru ),BMcond ( rQ ) {};
         void condition ( const vec &Q0 ) {
                 Q=diag(Q0);
@@ -89 +86 @@
         chmat Q ( Qdiag );
         chmat R ( Rdiag );
-        EKFCh KFE ( rx,ry,ru );
+        EKFCh KFE ;
         KFE.set_est ( mu0, chmat( 1*eye ( 4 ) ) );
         KFE.set_parameters ( &fxu,&hxu,Q,R);
 
         RV rQ ( "{Q}","4" );
-        EKF_unQful KFEp ( rx,ry,ru,rQ );
+        EKF_unQful KFEp ;
         KFEp.set_est ( mu0,  1*ones ( 4 ) );
         KFEp.set_parameters ( &fxu,&hxu,diag(Qdiag),diag(Rdiag) );
 
-        mgamma_fix evolQ ( rQ,rQ );
-        MPF<EKF_unQful> M ( rx,rQ,evolQ,evolQ,Npart,KFEp );
+        mgamma_fix evolQ ;
+        MPF<EKF_unQful> M ( &evolQ,&evolQ,Npart,KFEp );
         // initialize
         evolQ.set_parameters ( 1000.0 ,Qdiag, 0.5); //sigma = 1/10 mu
         evolQ.condition ( Qdiag ); //Zdenek default
-        epdf& pfinit=evolQ.posterior();
+        epdf& pfinit=evolQ._epdf();
         M.set_est ( pfinit );
         evolQ.set_parameters ( 100000.0, Qdiag, 0.9999 );