Changeset 28 for tests/testKF.cpp

Timestamp:

02/22/08 16:40:12 (17 years ago)

Author:

smidl

Message:

prelozitelna verze

Files:

• tests/testKF.cpp (modified) (2 diffs)

tests/testKF.cpp

@@ -22 +22 @@
 
         bool xxx= fin.seek( "d" );
+        if (!xxx){ it_error("testKF.it not found");}
         fin >>Dt;
         fin.seek( "A" ); 
@@ -43 +44 @@
         XtE=zeros( 2,Ndat );
 
-        Kalman<fsqmat> KF( A,B,C,D,fsqmat(R),fsqmat(Q),fsqmat(P0),mu0 );
 //      cout << KF;
-        KalmanFull KF2( A,B,C,D,R,Q,P0,mu0 );
         RV rx("1","{x}","2","0","0");
         RV ru("2","{u}","1","0","0");
         RV ry("3","{y}","1","0","0");
+        //
+        Kalman<ldmat> KF(rx,ry,ru);
+        KF.set_parameters(A,B,C,D,ldmat(R),ldmat(Q));
+        KF.set_est(mu0,ldmat(P0) );
+        //
+        Kalman<fsqmat> KFf(rx,ry,ru);
+        KFf.set_parameters(A,B,C,D,fsqmat(R),fsqmat(Q));
+        KFf.set_est(mu0,fsqmat(P0) );
+        //
+        KalmanFull KF2( A,B,C,D,R,Q,P0,mu0 );
+        //
         bilinfn fxu(rx,ru,A,B);
         bilinfn hxu(rx,ru,C,D);
-        EKF<fsqmat> KFE(&fxu,&hxu,Q,R,mu0,P0);
+        EKF<ldmat> KFE(rx,ry,ru);
+        KFE.set_parameters(&fxu,&hxu,Q,R);
+        KFE.set_est(mu0,P0);
 
-        Xt.set_col( 0,KF.mu );
-        Xt2.set_col( 0,KF.mu );
-        XtE.set_col( 0,KF.mu );
+        Xt.set_col( 0,*((enorm<ldmat>*)(KF._epdf()))->_mu() );
+        Xt2.set_col( 0,KF2.mu );
+        XtE.set_col( 0,*((enorm<ldmat>*)(KFE._epdf()))->_mu() );
         for ( int t=1;t<Ndat;t++ ) {
+                KFf.bayes( Dt.get_col( t ));
                 KF.bayes( Dt.get_col( t ));
                 KF2.bayes( Dt.get_col( t ));
-                KFE.bayes( Dt.get_col( t ));
-                Xt.set_col(t,KF.mu);
+//              KFE.bayes( Dt.get_col( t ));
+                Xt.set_col(t,*((enorm<ldmat>*)(KF._epdf()))->_mu());
                 Xt2.set_col(t,KF2.mu);
-                XtE.set_col(t,KFE.mu);
-//              Kmu = KF.mu;
-//              cout <<  "t:" <<t<< "  " << dt<<"  "<<Kmu <<endl;
+                XtE.set_col(t,*((enorm<ldmat>*)(KFE._epdf()))->_mu());
         }