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06/02/09 10:08:06 (16 years ago)
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  • doc/html/KF__ui_8h-source.html

    r323 r353  
    7676<a name="l00024"></a>00024                 <span class="comment">//parameters</span> 
    7777<a name="l00025"></a>00025                 EKFCh* E; E=<span class="keyword">new</span> EKFCh; 
    78 <a name="l00026"></a>00026                 E-&gt;set_parameters(IM, OM, diag(getvec(S[<span class="stringliteral">"dQ"</span>])), diag(getvec(S[<span class="stringliteral">"dR"</span>]))); 
     78<a name="l00026"></a>00026                 <span class="comment">//EKFfull* E; E=new EKFfull;</span> 
    7979<a name="l00027"></a>00027                  
    8080<a name="l00028"></a>00028                 <span class="comment">//statistics</span> 
    … …  
    8282<a name="l00030"></a>00030                 vec mu0; 
    8383<a name="l00031"></a>00031                 mat P0; 
    84 <a name="l00032"></a>00032                 <span class="keywordflow">if</span> (S.exists(<span class="stringliteral">"mu0"</span>)){mu0=getvec(S[<span class="stringliteral">"mu0"</span>]);}<span class="keywordflow">else</span>{mu0=zeros(dim);}; 
    85 <a name="l00033"></a>00033                 <span class="keywordflow">if</span> (S.exists(<span class="stringliteral">"P0"</span>)){mu0=getmat(S[<span class="stringliteral">"P0"</span>],dim);}<span class="keywordflow">else</span>{P0=eye(dim);}; 
    86 <a name="l00034"></a>00034                 E-&gt;set_statistics(mu0,P0); 
    87 <a name="l00035"></a>00035                  
    88 <a name="l00036"></a>00036                 <span class="comment">//connect</span> 
    89 <a name="l00037"></a>00037                 RV* drv; UIbuild(S[<span class="stringliteral">"drv"</span>],drv); 
    90 <a name="l00038"></a>00038                 E-&gt;set_drv(*drv); 
    91 <a name="l00039"></a>00039                 RV* rv; UIbuild(S[<span class="stringliteral">"rv"</span>],rv); 
    92 <a name="l00040"></a>00040                 E-&gt;set_rv(*rv); 
    93 <a name="l00041"></a>00041                 <span class="keywordflow">return</span> E; 
    94 <a name="l00042"></a>00042         }        
    95 <a name="l00043"></a>00043 }; 
    96 <a name="l00044"></a>00044 UIREGISTER ( UIEKF ); 
    97 <a name="l00045"></a>00045  
    98 <a name="l00046"></a>00046  
     84<a name="l00032"></a>00032                 <span class="keywordflow">if</span> (S.exists(<span class="stringliteral">"mu0"</span>)){mu0=getvec(S[<span class="stringliteral">"mu0"</span>]);}<span class="keywordflow">else</span>{mu0=<a class="code" href="group__specmat.html#g10723ecada06221cbe64fe2736a59de1" title="A Double (rows,cols)-matrix of zeros.">zeros</a>(dim);}; 
     85<a name="l00033"></a>00033                 <span class="keywordflow">if</span> (S.exists(<span class="stringliteral">"P0"</span>)){P0=getmat(S[<span class="stringliteral">"P0"</span>],dim);}<span class="keywordflow">else</span>{P0=<a class="code" href="group__specmat.html#gbfc73e72a56769280cd9fda812367196" title="A non-copying version of the eye function.">eye</a>(dim);}; 
     86<a name="l00034"></a>00034                 <span class="keywordflow">if</span> (S.exists(<span class="stringliteral">"dP0"</span>)){P0=<a class="code" href="group__diag.html#gb0938c932c1cbc19b2ce6c5ac1007553" title="Get the diagonal elements of the input matrix m.">diag</a>(getvec(S[<span class="stringliteral">"dP0"</span>]));}<span class="keywordflow">else</span>{P0=<a class="code" href="group__specmat.html#gbfc73e72a56769280cd9fda812367196" title="A non-copying version of the eye function.">eye</a>(dim);}; 
     87<a name="l00035"></a>00035                 E-&gt;set_statistics(mu0,P0); 
     88<a name="l00036"></a>00036                  
     89<a name="l00037"></a>00037                 <span class="comment">//parameters</span> 
     90<a name="l00038"></a>00038                 E-&gt;set_parameters(IM, OM, <a class="code" href="group__diag.html#gb0938c932c1cbc19b2ce6c5ac1007553" title="Get the diagonal elements of the input matrix m.">diag</a>(getvec(S[<span class="stringliteral">"dQ"</span>])), <a class="code" href="group__diag.html#gb0938c932c1cbc19b2ce6c5ac1007553" title="Get the diagonal elements of the input matrix m.">diag</a>(getvec(S[<span class="stringliteral">"dR"</span>]))); 
     91<a name="l00039"></a>00039  
     92<a name="l00040"></a>00040                 <span class="comment">//connect</span> 
     93<a name="l00041"></a>00041                 RV* drv; UIbuild(S[<span class="stringliteral">"drv"</span>],drv); 
     94<a name="l00042"></a>00042                 E-&gt;set_drv(*drv); 
     95<a name="l00043"></a>00043                 RV* rv; UIbuild(S[<span class="stringliteral">"rv"</span>],rv); 
     96<a name="l00044"></a>00044                 E-&gt;set_rv(*rv); 
     97<a name="l00045"></a>00045                  
     98<a name="l00046"></a>00046                 <span class="keywordflow">if</span> (S.exists(<span class="stringliteral">"options"</span>)){E-&gt;set_options(S[<span class="stringliteral">"options"</span>]);}; 
     99<a name="l00047"></a>00047                  
     100<a name="l00048"></a>00048                 <span class="keywordflow">return</span> E; 
     101<a name="l00049"></a>00049         }        
     102<a name="l00050"></a>00050 }; 
     103<a name="l00051"></a>00051 UIREGISTER ( UIEKF ); 
     104<a name="l00052"></a>00052  
     105<a name="l00053"></a>00053 <span class="keyword">class </span>UIMultiModel: <span class="keyword">public</span> UIbuilder { 
     106<a name="l00054"></a>00054         <span class="keyword">public</span>: 
     107<a name="l00055"></a>00055                 UIMultiModel():UIbuilder(<span class="stringliteral">"MultiModel"</span>){}; 
     108<a name="l00056"></a>00056                 bdmroot* build ( Setting &amp;S )<span class="keyword"> const </span>{ 
     109<a name="l00057"></a>00057                         <a class="code" href="classitpp_1_1Array.html">Array&lt;EKFCh*&gt;</a> A; 
     110<a name="l00058"></a>00058                         MultiModel* MM; MM=<span class="keyword">new</span> MultiModel; 
     111<a name="l00059"></a>00059                                  
     112<a name="l00060"></a>00060                         Setting&amp; <a class="code" href="group__miscfunc.html#g441f466a2b056fe5f2b05fcd894c472f" title="Calculates the modulus, i.e. the signed reminder after division.">mod</a>=S[<span class="stringliteral">"models"</span>]; 
     113<a name="l00061"></a>00061                         A.<a class="code" href="classitpp_1_1Array.html#3709407656d26aae2c5d3e844316d4e0" title="Resizing an Array&amp;lt;T&amp;gt;.">set_length</a>(mod.getLength()); 
     114<a name="l00062"></a>00062                         <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=0;i&lt;A.<a class="code" href="classitpp_1_1Array.html#53629018f146084de506c33c69fa19a3" title="Returns the number of data elements in the array object.">length</a>();i++){ 
     115<a name="l00063"></a>00063                                 UIbuild(mod[i], A(i)); 
     116<a name="l00064"></a>00064                         } 
     117<a name="l00065"></a>00065                          
     118<a name="l00066"></a>00066                         MM-&gt;set_parameters(A); 
     119<a name="l00067"></a>00067                         MM-&gt;set_drv(A(0)-&gt;_drv()); 
     120<a name="l00068"></a>00068                         <span class="comment">//MM-&gt;set_rv(A(0)-&gt;_rv());</span> 
     121<a name="l00069"></a>00069                  
     122<a name="l00070"></a>00070                         <span class="keywordflow">if</span> (S.exists(<span class="stringliteral">"options"</span>)){MM-&gt;set_options(S[<span class="stringliteral">"options"</span>]);}; 
     123<a name="l00071"></a>00071                  
     124<a name="l00072"></a>00072                         <span class="keywordflow">return</span> MM; 
     125<a name="l00073"></a>00073                 }        
     126<a name="l00074"></a>00074 }; 
     127<a name="l00075"></a>00075 UIREGISTER ( UIMultiModel ); 
     128<a name="l00076"></a>00076  
    99129</pre></div></div> 
    100 <hr size="1"><address style="text-align: right;"><small>Generated on Thu Apr 23 21:06:42 2009 for mixpp by&nbsp; 
     130<hr size="1"><address style="text-align: right;"><small>Generated on Tue Jun 2 10:02:11 2009 for mixpp by&nbsp; 
    101131<a href="http://www.doxygen.org/index.html"> 
    102132<img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.8 </small></address>