Changeset 279 for pmsm/old/pmsm_unkQpf.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_unkQpf.cpp (moved) (moved from pmsm/pmsm_unkQpf.cpp) (2 diffs)

pmsm/old/pmsm_unkQpf.cpp

@@ -24 +24 @@
 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 @@
 
         RV rQ ( "{Q}","2" );
-        EKF_unQ KFE ( rx,ry,ru,rQ );
+        EKF_unQ KFE ;
         KFE.set_parameters ( &fxu,&hxu,Q,R );
         KFE.set_est ( mu0, chmat ( 1000*ones ( 4 ) ) );
 
-        mgamma evolQ ( rQ,rQ );
+        mgamma evolQ ;
         //evolQ.set_parameters ( 10000.0 ); //sigma = 1/10 mu
 
-        MPF<EKF_unQ> M ( rx,rQ,evolQ,evolQ,100,KFE );
+        MPF<EKF_unQ> M ( &evolQ,&evolQ,100,KFE );
 
         const epdf& KFEep = KFE.posterior();
         const epdf& Mep = M.posterior();
         // initialize
-        evolQ.set_parameters ( 1.0 ); //sigma = 1/10 mu
+        evolQ.set_parameters ( 1.0, "0.5 0.5" ); //sigma = 1/10 mu
         evolQ.condition ( "0.5 0.5" );
-        const epdf& pfinit=evolQ.posterior();
+        const epdf& pfinit=evolQ._epdf();
         M.set_est ( pfinit );
-        evolQ.set_parameters ( 1000.0 ); //sigma = 1/10 mu
+        evolQ.set_parameters ( 1000.0 , "0.5 0.5"); //sigma = 1/10 mu
 
         //simulator values