Changeset 283 for pmsm/TR2245/unitsteps.cpp

Timestamp:

02/24/09 14:14:01 (15 years ago)

Author:

smidl

Message:

get rid of BMcond + adaptation in doprava/

Files:

• pmsm/TR2245/unitsteps.cpp (modified) (3 diffs)

pmsm/TR2245/unitsteps.cpp

@@ -61 +61 @@
         KFE.set_parameters ( &fxu,&hxu,Q,R );
         KFE.set_est ( mu0, chmat ( zeros ( 4 ) ) );
+        KFE.set_rv(rx);
 
         RV rQ ( "{Q }","4" );
@@ -66 +67 @@
         KFEp.set_parameters ( &fxu,&hxu,Q,R );
         KFEp.set_est ( mu0, chmat ( zeros ( 4 ) ) );
-
-        //mgamma_fix evolQ ( rQ,rQ );
+        
         migamma_fix evolQ ;
-        MPF<EKFCh_unQ> M ( &evolQ,&evolQ,Npart,KFEp );
+        MPF<EKFCh_unQ> M;
+        M.set_parameters( &evolQ,&evolQ,Npart);
         // initialize
         evolQ.set_parameters ( 0.1, 10*Qdiag, 1.0 ); //sigma = 1/10 mu
         evolQ.condition ( 10*Qdiag ); //Zdenek default
-        M.set_est ( *evolQ._e() );
+        M.set_statistics ( evolQ._e() , &KFEp );
         evolQ.set_parameters ( 0.10, 10*Qdiag,0.999 ); //sigma = 1/10 mu
         //
 
-        const epdf& KFEep = KFE.posterior();
-        const epdf& Mep = M.posterior();
-
+        M.set_rv(concat(rQ,rx));
+        
         dirfilelog *L; UIbuild(F.lookup("logger"), L);// ( "exp/mpf_test",100 );
         int l_X = L->add ( rx, "xt" );
         int l_D = L->add ( concat ( ry,ru ), "" );
-        int l_XE= L->add ( rx, "xtE" );
-        int l_XM= L->add ( concat ( rQ,rx ), "xtM" );
-        int l_VE= L->add ( rx, "VE" );
-        int l_VM= L->add ( concat ( rQ,rx ), "VM" );
         int l_Q= L->add ( rQ, "" );
+        
+        KFE.set_options("logbounds");
+        KFE.log_add(L,"KF");
+        M.set_options("logbounds");
+        M.log_add(L,"M");
         L->init();
 
@@ -126 +127 @@
                 M.bayes ( concat ( dt,ut ) );
 
-                vec mea=Mep.mean();
-                if (max(mea)>1e3){
-                        cout << "here"<<endl;
-                }
                 L->logit ( l_X,xt );
                 L->logit ( l_D,concat ( dt,ut ) );
-                L->logit ( l_XE,KFEep.mean() );
-                L->logit ( l_XM, mea);
-                L->logit ( l_VE,KFEep.variance() );
-                L->logit ( l_VM,Mep.variance() );
                 L->logit ( l_Q,Qdiag );
+                
+                KFE.logit(L);
+                M.logit(L);
                 L->step();
         }