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  • doc/html/pmsm__ui_8h-source.html

    r323 r353  
    8383<a name="l00030"></a>00030                         <span class="keywordflow">if</span> (var==<span class="stringliteral">"Stat"</span>){tmp=<span class="keyword">new</span> <a class="code" href="classIMpmsmStat.html" title="State evolution model for a PMSM drive and its derivative with respect to , equation...">IMpmsmStat</a>;} 
    8484<a name="l00031"></a>00031                         <span class="keywordflow">if</span> (var==<span class="stringliteral">"2o"</span>){tmp=<span class="keyword">new</span> <a class="code" href="classIMpmsm2o.html" title="State evolution model for a PMSM drive and its derivative with respect to .">IMpmsm2o</a>;} 
    85 <a name="l00032"></a>00032                 } <span class="keywordflow">else</span> { 
    86 <a name="l00033"></a>00033                         tmp= <span class="keyword">new</span> <a class="code" href="classIMpmsm.html" title="State evolution model for a PMSM drive and its derivative with respect to .">IMpmsm</a>; 
    87 <a name="l00034"></a>00034                 } 
    88 <a name="l00035"></a>00035                 <span class="comment">//Set parameters (recursively)</span> 
    89 <a name="l00036"></a>00036                 UIcall&lt;IMpmsm*&gt; ( S[<span class="stringliteral">"params"</span>], &amp;tmp_set , tmp ); 
    90 <a name="l00037"></a>00037                 <span class="keywordflow">return</span> tmp; 
    91 <a name="l00038"></a>00038         }        
    92 <a name="l00039"></a>00039 }; 
    93 <a name="l00040"></a>00040 UIREGISTER ( UIpmsmIM ); 
    94 <a name="l00041"></a>00041  
    95 <a name="l00043"></a><a class="code" href="classUIpmsmOM.html">00043</a> <span class="keyword">class </span><a class="code" href="classUIpmsmOM.html" title="UI for pmsm observation model.">UIpmsmOM</a>: <span class="keyword">public</span> <a class="code" href="classbdm_1_1UIbuilder.html" title="Builds computational object from a UserInfo structure.">UIbuilder</a> { 
    96 <a name="l00044"></a>00044         <span class="keyword">public</span>: 
    97 <a name="l00045"></a>00045                 <a class="code" href="classUIpmsmOM.html" title="UI for pmsm observation model.">UIpmsmOM</a>():<a class="code" href="classbdm_1_1UIbuilder.html#c75103dd58395644e80f1eea886c656b" title="Constructor needs to be run only once macro UIREGISTER.">UIbuilder</a>(<span class="stringliteral">"pmsmOM"</span>){}; 
    98 <a name="l00046"></a><a class="code" href="classUIpmsmOM.html#3135772387690bf3196c13965d3eb903">00046</a>                 <a class="code" href="classbdm_1_1bdmroot.html" title="Root class of BDM objects.">bdmroot</a>* <a class="code" href="classUIpmsmOM.html#3135772387690bf3196c13965d3eb903" title="Function building the computational object.">build</a> ( Setting &amp;S )<span class="keyword"> const </span>{ 
    99 <a name="l00047"></a>00047                         <span class="keywordflow">return</span> <span class="keyword">new</span> <a class="code" href="classOMpmsm.html" title="Observation model for PMSM drive and its derivative with respect to .">OMpmsm</a>; 
    100 <a name="l00048"></a>00048                 }        
    101 <a name="l00049"></a>00049 }; 
    102 <a name="l00050"></a>00050 UIREGISTER ( <a class="code" href="classUIpmsmOM.html" title="UI for pmsm observation model.">UIpmsmOM</a> ); 
    103 <a name="l00051"></a>00051  
    104 <a name="l00052"></a>00052  
     85<a name="l00032"></a>00032                         <span class="keywordflow">if</span> (var==<span class="stringliteral">"Mz"</span>){tmp=<span class="keyword">new</span> <a class="code" href="classIMpmsmMz.html" title="State for PMSM with unknown Mz.">IMpmsmMz</a>;} 
     86<a name="l00033"></a>00033                         <span class="keywordflow">if</span> (var==<span class="stringliteral">"StatMz"</span>){tmp=<span class="keyword">new</span> <a class="code" href="classIMpmsmStatMz.html" title="State for PMSM with unknown Mz.">IMpmsmStatMz</a>;} 
     87<a name="l00034"></a>00034                 } <span class="keywordflow">else</span> { 
     88<a name="l00035"></a>00035                         tmp= <span class="keyword">new</span> <a class="code" href="classIMpmsm.html" title="State evolution model for a PMSM drive and its derivative with respect to .">IMpmsm</a>; 
     89<a name="l00036"></a>00036                 } 
     90<a name="l00037"></a>00037                 <span class="comment">//Set parameters (recursively)</span> 
     91<a name="l00038"></a>00038                 UIcall&lt;IMpmsm*&gt; ( S[<span class="stringliteral">"params"</span>], &amp;tmp_set , tmp ); 
     92<a name="l00039"></a>00039                 <span class="keywordflow">return</span> tmp; 
     93<a name="l00040"></a>00040         }        
     94<a name="l00041"></a>00041 }; 
     95<a name="l00042"></a>00042 UIREGISTER ( UIpmsmIM ); 
     96<a name="l00043"></a>00043  
     97<a name="l00045"></a><a class="code" href="classUIpmsmOM.html">00045</a> <span class="keyword">class </span><a class="code" href="classUIpmsmOM.html" title="UI for pmsm observation model.">UIpmsmOM</a>: <span class="keyword">public</span> <a class="code" href="classbdm_1_1UIbuilder.html" title="Builds computational object from a UserInfo structure.">UIbuilder</a> { 
     98<a name="l00046"></a>00046         <span class="keyword">public</span>: 
     99<a name="l00047"></a>00047                 <a class="code" href="classUIpmsmOM.html" title="UI for pmsm observation model.">UIpmsmOM</a>():<a class="code" href="classbdm_1_1UIbuilder.html#c75103dd58395644e80f1eea886c656b" title="Constructor needs to be run only once macro UIREGISTER.">UIbuilder</a>(<span class="stringliteral">"pmsmOM"</span>){}; 
     100<a name="l00048"></a><a class="code" href="classUIpmsmOM.html#3135772387690bf3196c13965d3eb903">00048</a>                 <a class="code" href="classbdm_1_1bdmroot.html" title="Root class of BDM objects.">bdmroot</a>* <a class="code" href="classUIpmsmOM.html#3135772387690bf3196c13965d3eb903" title="Function building the computational object.">build</a> ( Setting &amp;S )<span class="keyword"> const </span>{ 
     101<a name="l00049"></a>00049                         <span class="keywordflow">return</span> <span class="keyword">new</span> <a class="code" href="classOMpmsm.html" title="Observation model for PMSM drive and its derivative with respect to .">OMpmsm</a>; 
     102<a name="l00050"></a>00050                 }        
     103<a name="l00051"></a>00051 }; 
     104<a name="l00052"></a>00052 UIREGISTER ( <a class="code" href="classUIpmsmOM.html" title="UI for pmsm observation model.">UIpmsmOM</a> ); 
    105105<a name="l00053"></a>00053  
    106 <a name="l00055"></a><a class="code" href="classUIpmsmDS.html">00055</a> <span class="keyword">class </span><a class="code" href="classUIpmsmDS.html" title="UI for pmsmDS,.">UIpmsmDS</a>: <span class="keyword">public</span> <a class="code" href="classbdm_1_1UIbuilder.html" title="Builds computational object from a UserInfo structure.">UIbuilder</a> { 
    107 <a name="l00056"></a>00056         <span class="keyword">static</span> <span class="keywordtype">void</span> tmp_set ( Setting &amp;S, <a class="code" href="classpmsmDS.html" title="Simulator of PMSM machine with predefined profile on omega.">pmsmDS</a>* <a class="code" href="classbdm_1_1DS.html" title="Abstract class for discrete-time sources of data.">DS</a> ) { 
    108 <a name="l00057"></a>00057                 <span class="comment">//pmsmsim_set_parameters (( Rs0,  Ls0, Fmag0, Bf0, p0, kp0,  J0, Uc0, DT0,  dt0);</span> 
    109 <a name="l00058"></a>00058                 DS-&gt;<a class="code" href="classpmsmDS.html#73073ee4f905af3f9f96a6130e9a9e22">set_parameters</a> ( S[<span class="stringliteral">"Rs"</span>], S[<span class="stringliteral">"Ls"</span>], S[<span class="stringliteral">"Fmag"</span>], S[<span class="stringliteral">"Bf"</span>], S[<span class="stringliteral">"p"</span>], S[<span class="stringliteral">"kp"</span>], \ 
    110 <a name="l00059"></a>00059                                      S[<span class="stringliteral">"J"</span>], S[<span class="stringliteral">"Uc"</span>], S[<span class="stringliteral">"DT"</span>], 1.0e-6 ); 
    111 <a name="l00060"></a>00060         }; 
    112 <a name="l00061"></a>00061 <span class="keyword">public</span>: 
    113 <a name="l00062"></a>00062         <a class="code" href="classUIpmsmDS.html" title="UI for pmsmDS,.">UIpmsmDS</a>() :<a class="code" href="classbdm_1_1UIbuilder.html#c75103dd58395644e80f1eea886c656b" title="Constructor needs to be run only once macro UIREGISTER.">UIbuilder</a> ( <span class="stringliteral">"pmsmDS"</span> ) {}; 
    114 <a name="l00063"></a><a class="code" href="classUIpmsmDS.html#bccf3ecf6a270599c2d2fc1005ab13af">00063</a>         <a class="code" href="classbdm_1_1bdmroot.html" title="Root class of BDM objects.">bdmroot</a>* <a class="code" href="classUIpmsmDS.html#bccf3ecf6a270599c2d2fc1005ab13af" title="Function building the computational object.">build</a> ( Setting &amp;S )<span class="keyword"> const </span>{ 
    115 <a name="l00064"></a>00064                 <a class="code" href="classpmsmDS.html" title="Simulator of PMSM machine with predefined profile on omega.">pmsmDS</a>* tmp = <span class="keyword">new</span> <a class="code" href="classpmsmDS.html" title="Simulator of PMSM machine with predefined profile on omega.">pmsmDS</a> ( ); 
    116 <a name="l00065"></a>00065                 <span class="comment">//Calling function tmp-&gt;tmp_set</span> 
    117 <a name="l00066"></a>00066                 UIcall&lt;pmsmDS*&gt; ( S[<span class="stringliteral">"params"</span>], &amp;tmp_set , tmp ); 
    118 <a name="l00067"></a>00067                  
    119 <a name="l00068"></a>00068                 <span class="comment">// Default values of profiles for omega and Mz</span> 
    120 <a name="l00069"></a>00069                 vec profW=vec(<span class="stringliteral">"1.0"</span>); 
    121 <a name="l00070"></a>00070                 vec profM=vec(<span class="stringliteral">"0.0"</span>); 
    122 <a name="l00071"></a>00071                 <span class="keywordtype">double</span> tstep=1.0; 
    123 <a name="l00072"></a>00072                  
    124 <a name="l00073"></a>00073                 <span class="keywordflow">if</span> ( S.exists ( <span class="stringliteral">"tstep"</span> ) ) {tstep=S[<span class="stringliteral">"tstep"</span>];} 
    125 <a name="l00074"></a>00074                 <span class="keywordflow">if</span> ( S.exists ( <span class="stringliteral">"profileW"</span> ) ) {profW=getvec ( S[<span class="stringliteral">"profileW"</span>] ) ;} 
    126 <a name="l00075"></a>00075                 <span class="keywordflow">if</span> ( S.exists ( <span class="stringliteral">"profileM"</span> ) ) {profM=getvec ( S[<span class="stringliteral">"profileM"</span>] ) ;} 
    127 <a name="l00076"></a>00076                  
    128 <a name="l00077"></a>00077                 tmp-&gt;<a class="code" href="classpmsmDS.html#bcea4f040063f65ae39a4ca21f6aff1f">set_profile</a> (tstep , profW, profM); 
     106<a name="l00054"></a>00054  
     107<a name="l00055"></a>00055 <span class="keyword">class </span>UIpmsmOM4: <span class="keyword">public</span> <a class="code" href="classbdm_1_1UIbuilder.html" title="Builds computational object from a UserInfo structure.">UIbuilder</a> { 
     108<a name="l00056"></a>00056         <span class="keyword">public</span>: 
     109<a name="l00057"></a>00057                 UIpmsmOM4():<a class="code" href="classbdm_1_1UIbuilder.html" title="Builds computational object from a UserInfo structure.">UIbuilder</a>(<span class="stringliteral">"pmsmOM4"</span>){}; 
     110<a name="l00058"></a>00058                 <a class="code" href="classbdm_1_1bdmroot.html" title="Root class of BDM objects.">bdmroot</a>* <a class="code" href="classbdm_1_1UIbuilder.html#193cede6302669ff48dfd8ab3b7e31f8" title="Function building the computational object.">build</a> ( Setting &amp;S )<span class="keyword"> const </span>{ 
     111<a name="l00059"></a>00059                         <span class="keywordflow">return</span> <span class="keyword">new</span> <a class="code" href="classOMpmsm4.html" title="Observation model for PMSM drive and its derivative with respect to  for full vector...">OMpmsm4</a>; 
     112<a name="l00060"></a>00060                 }        
     113<a name="l00061"></a>00061 }; 
     114<a name="l00062"></a>00062 UIREGISTER ( UIpmsmOM4 ); 
     115<a name="l00063"></a>00063  
     116<a name="l00064"></a>00064  
     117<a name="l00066"></a><a class="code" href="classUIpmsmDS.html">00066</a> <span class="keyword">class </span><a class="code" href="classUIpmsmDS.html" title="UI for pmsmDS,.">UIpmsmDS</a>: <span class="keyword">public</span> <a class="code" href="classbdm_1_1UIbuilder.html" title="Builds computational object from a UserInfo structure.">UIbuilder</a> { 
     118<a name="l00067"></a>00067         <span class="keyword">static</span> <span class="keywordtype">void</span> tmp_set ( Setting &amp;S, <a class="code" href="classpmsmDS.html" title="Simulator of PMSM machine with predefined profile on omega.">pmsmDS</a>* <a class="code" href="classbdm_1_1DS.html" title="Abstract class for discrete-time sources of data.">DS</a> ) { 
     119<a name="l00068"></a>00068                 <span class="comment">//pmsmsim_set_parameters (( Rs0,  Ls0, Fmag0, Bf0, p0, kp0,  J0, Uc0, DT0,  dt0);</span> 
     120<a name="l00069"></a>00069                 DS-&gt;<a class="code" href="classpmsmDS.html#73073ee4f905af3f9f96a6130e9a9e22">set_parameters</a> ( S[<span class="stringliteral">"Rs"</span>], S[<span class="stringliteral">"Ls"</span>], S[<span class="stringliteral">"Fmag"</span>], S[<span class="stringliteral">"Bf"</span>], S[<span class="stringliteral">"p"</span>], S[<span class="stringliteral">"kp"</span>], \ 
     121<a name="l00070"></a>00070                                      S[<span class="stringliteral">"J"</span>], S[<span class="stringliteral">"Uc"</span>], S[<span class="stringliteral">"DT"</span>], 1.0e-6 ); 
     122<a name="l00071"></a>00071         }; 
     123<a name="l00072"></a>00072 <span class="keyword">public</span>: 
     124<a name="l00073"></a>00073         <a class="code" href="classUIpmsmDS.html" title="UI for pmsmDS,.">UIpmsmDS</a>() :<a class="code" href="classbdm_1_1UIbuilder.html#c75103dd58395644e80f1eea886c656b" title="Constructor needs to be run only once macro UIREGISTER.">UIbuilder</a> ( <span class="stringliteral">"pmsmDS"</span> ) {}; 
     125<a name="l00074"></a><a class="code" href="classUIpmsmDS.html#bccf3ecf6a270599c2d2fc1005ab13af">00074</a>         <a class="code" href="classbdm_1_1bdmroot.html" title="Root class of BDM objects.">bdmroot</a>* <a class="code" href="classUIpmsmDS.html#bccf3ecf6a270599c2d2fc1005ab13af" title="Function building the computational object.">build</a> ( Setting &amp;S )<span class="keyword"> const </span>{ 
     126<a name="l00075"></a>00075                 <a class="code" href="classpmsmDS.html" title="Simulator of PMSM machine with predefined profile on omega.">pmsmDS</a>* tmp = <span class="keyword">new</span> <a class="code" href="classpmsmDS.html" title="Simulator of PMSM machine with predefined profile on omega.">pmsmDS</a> ( ); 
     127<a name="l00076"></a>00076                 <span class="comment">//Calling function tmp-&gt;tmp_set</span> 
     128<a name="l00077"></a>00077                 UIcall&lt;pmsmDS*&gt; ( S[<span class="stringliteral">"params"</span>], &amp;tmp_set , tmp ); 
    129129<a name="l00078"></a>00078                  
    130 <a name="l00079"></a>00079                 <span class="keywordtype">string</span> opts=<span class="stringliteral">""</span>; 
    131 <a name="l00080"></a>00080                 <span class="keywordflow">if</span> ( S.exists ( <span class="stringliteral">"options"</span> ) ) {opts=(<span class="keyword">const</span> <span class="keywordtype">char</span>*)S[<span class="stringliteral">"options"</span>];} 
    132 <a name="l00081"></a>00081                 tmp-&gt;<a class="code" href="classpmsmDS.html#75dd22db70746bfd0c3e685a17bbf34a" title="parse options: &amp;quot;modelu&amp;quot; =&amp;gt; opt_modu=true;">set_options</a>(opts); 
    133 <a name="l00082"></a>00082                  
    134 <a name="l00083"></a>00083                 <span class="keywordflow">return</span> tmp; 
    135 <a name="l00084"></a>00084         }; 
    136 <a name="l00085"></a>00085  
    137 <a name="l00086"></a>00086 }; 
    138 <a name="l00087"></a>00087 UIREGISTER ( <a class="code" href="classUIpmsmDS.html" title="UI for pmsmDS,.">UIpmsmDS</a> ); 
    139 <a name="l00088"></a>00088  
    140 <a name="l00089"></a>00089 <span class="keyword">class </span>UIpmsmCRB: <span class="keyword">public</span> <a class="code" href="classbdm_1_1UIbuilder.html" title="Builds computational object from a UserInfo structure.">UIbuilder</a> { 
    141 <a name="l00090"></a>00090         <span class="keyword">public</span>: 
    142 <a name="l00091"></a>00091                 UIpmsmCRB():<a class="code" href="classbdm_1_1UIbuilder.html" title="Builds computational object from a UserInfo structure.">UIbuilder</a>(<span class="stringliteral">"pmsmCRB"</span>){}; 
    143 <a name="l00092"></a>00092                 <a class="code" href="classbdm_1_1bdmroot.html" title="Root class of BDM objects.">bdmroot</a>* <a class="code" href="classbdm_1_1UIbuilder.html#193cede6302669ff48dfd8ab3b7e31f8" title="Function building the computational object.">build</a> ( Setting &amp;S )<span class="keyword"> const </span>{ 
    144 <a name="l00093"></a>00093                         <a class="code" href="classbdm_1_1diffbifn.html" title="Class representing a differentiable function of two variables .">diffbifn</a>* IM; UIbuild(S[<span class="stringliteral">"IM"</span>],IM); 
    145 <a name="l00094"></a>00094                         <a class="code" href="classbdm_1_1diffbifn.html" title="Class representing a differentiable function of two variables .">diffbifn</a>* OM; UIbuild(S[<span class="stringliteral">"OM"</span>],OM); 
    146 <a name="l00095"></a>00095                  
    147 <a name="l00096"></a>00096                 <span class="comment">//parameters</span> 
    148 <a name="l00097"></a>00097                         <a class="code" href="classpmsmCRB.html" title="This class behaves like BM but it is evaluating EKF.">pmsmCRB</a>* E; E=<span class="keyword">new</span> <a class="code" href="classpmsmCRB.html" title="This class behaves like BM but it is evaluating EKF.">pmsmCRB</a>; 
    149 <a name="l00098"></a>00098                         E-&gt;<a class="code" href="classbdm_1_1EKFCh.html#50f9fbffad721f35e5ccb75d0f6b842a" title="Set nonlinear functions for mean values and covariance matrices.">set_parameters</a>(IM, OM, diag(getvec(S[<span class="stringliteral">"dQ"</span>])), diag(getvec(S[<span class="stringliteral">"dR"</span>]))); 
    150 <a name="l00099"></a>00099                  
    151 <a name="l00100"></a>00100                 <span class="comment">//statistics</span> 
    152 <a name="l00101"></a>00101                         <span class="keywordtype">int</span> dim=IM-&gt;<a class="code" href="classbdm_1_1fnc.html#083832294da9d1e40804158b979c4341" title="access function">dimension</a>(); 
    153 <a name="l00102"></a>00102                         vec mu0; 
    154 <a name="l00103"></a>00103                         mat P0; 
    155 <a name="l00104"></a>00104                         <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);}; 
    156 <a name="l00105"></a>00105                         <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);}; 
    157 <a name="l00106"></a>00106                         E-&gt;<a class="code" href="classbdm_1_1KalmanCh.html#6e169272657ed101f3d128b49c59b890">set_statistics</a>(mu0,P0); 
    158 <a name="l00107"></a>00107                  
    159 <a name="l00108"></a>00108                 <span class="comment">//connect</span> 
    160 <a name="l00109"></a>00109                         <a class="code" href="classbdm_1_1RV.html" title="Class representing variables, most often random variables.">RV</a>* drv; UIbuild(S[<span class="stringliteral">"drv"</span>],drv); 
    161 <a name="l00110"></a>00110                         E-&gt;<a class="code" href="classbdm_1_1BM.html#f135ae6dce7e9f30c9f88229c7930b96">set_drv</a>(*drv); 
    162 <a name="l00111"></a>00111                         <a class="code" href="classbdm_1_1RV.html" title="Class representing variables, most often random variables.">RV</a>* rv; UIbuild(S[<span class="stringliteral">"rv"</span>],rv); 
    163 <a name="l00112"></a>00112                         E-&gt;<a class="code" href="classbdm_1_1BM.html#b38d92f17620813ad872d86e01a26e5e">set_rv</a>(*rv); 
    164 <a name="l00113"></a>00113                         <span class="keywordflow">return</span> E; 
    165 <a name="l00114"></a>00114                 }        
    166 <a name="l00115"></a>00115 }; 
    167 <a name="l00116"></a>00116 UIREGISTER ( UIpmsmCRB ); 
     130<a name="l00079"></a>00079                 <span class="comment">// Default values of profiles for omega and Mz</span> 
     131<a name="l00080"></a>00080                 vec profW=vec(<span class="stringliteral">"1.0"</span>); 
     132<a name="l00081"></a>00081                 vec profM=vec(<span class="stringliteral">"0.0"</span>); 
     133<a name="l00082"></a>00082                 <span class="keywordtype">double</span> tstep=1.0; 
     134<a name="l00083"></a>00083                  
     135<a name="l00084"></a>00084                 <span class="keywordflow">if</span> ( S.exists ( <span class="stringliteral">"tstep"</span> ) ) {tstep=S[<span class="stringliteral">"tstep"</span>];} 
     136<a name="l00085"></a>00085                 <span class="keywordflow">if</span> ( S.exists ( <span class="stringliteral">"profileW"</span> ) ) {profW=getvec ( S[<span class="stringliteral">"profileW"</span>] ) ;} 
     137<a name="l00086"></a>00086                 <span class="keywordflow">if</span> ( S.exists ( <span class="stringliteral">"profileM"</span> ) ) {profM=getvec ( S[<span class="stringliteral">"profileM"</span>] ) ;} 
     138<a name="l00087"></a>00087                  
     139<a name="l00088"></a>00088                 tmp-&gt;<a class="code" href="classpmsmDS.html#bcea4f040063f65ae39a4ca21f6aff1f">set_profile</a> (tstep , profW, profM); 
     140<a name="l00089"></a>00089                  
     141<a name="l00090"></a>00090                 <span class="keywordtype">string</span> opts=<span class="stringliteral">""</span>; 
     142<a name="l00091"></a>00091                 <span class="keywordflow">if</span> ( S.exists ( <span class="stringliteral">"options"</span> ) ) {opts=(<span class="keyword">const</span> <span class="keywordtype">char</span>*)S[<span class="stringliteral">"options"</span>];} 
     143<a name="l00092"></a>00092                 tmp-&gt;<a class="code" href="classpmsmDS.html#75dd22db70746bfd0c3e685a17bbf34a" title="parse options: &amp;quot;modelu&amp;quot; =&amp;gt; opt_modu=true;">set_options</a>(opts); 
     144<a name="l00093"></a>00093                  
     145<a name="l00094"></a>00094                 <span class="keywordflow">return</span> tmp; 
     146<a name="l00095"></a>00095         }; 
     147<a name="l00096"></a>00096  
     148<a name="l00097"></a>00097 }; 
     149<a name="l00098"></a>00098 UIREGISTER ( <a class="code" href="classUIpmsmDS.html" title="UI for pmsmDS,.">UIpmsmDS</a> ); 
     150<a name="l00099"></a>00099  
     151<a name="l00100"></a>00100 <span class="keyword">class </span>UIpmsmCRB: <span class="keyword">public</span> <a class="code" href="classbdm_1_1UIbuilder.html" title="Builds computational object from a UserInfo structure.">UIbuilder</a> { 
     152<a name="l00101"></a>00101         <span class="keyword">public</span>: 
     153<a name="l00102"></a>00102                 UIpmsmCRB():<a class="code" href="classbdm_1_1UIbuilder.html" title="Builds computational object from a UserInfo structure.">UIbuilder</a>(<span class="stringliteral">"pmsmCRB"</span>){}; 
     154<a name="l00103"></a>00103                 <a class="code" href="classbdm_1_1bdmroot.html" title="Root class of BDM objects.">bdmroot</a>* <a class="code" href="classbdm_1_1UIbuilder.html#193cede6302669ff48dfd8ab3b7e31f8" title="Function building the computational object.">build</a> ( Setting &amp;S )<span class="keyword"> const </span>{ 
     155<a name="l00104"></a>00104                         <a class="code" href="classbdm_1_1diffbifn.html" title="Class representing a differentiable function of two variables .">diffbifn</a>* IM; UIbuild(S[<span class="stringliteral">"IM"</span>],IM); 
     156<a name="l00105"></a>00105                         <a class="code" href="classbdm_1_1diffbifn.html" title="Class representing a differentiable function of two variables .">diffbifn</a>* OM; UIbuild(S[<span class="stringliteral">"OM"</span>],OM); 
     157<a name="l00106"></a>00106                  
     158<a name="l00107"></a>00107                 <span class="comment">//parameters</span> 
     159<a name="l00108"></a>00108                         <a class="code" href="classpmsmCRB.html" title="This class behaves like BM but it is evaluating EKF.">pmsmCRB</a>* E; E=<span class="keyword">new</span> <a class="code" href="classpmsmCRB.html" title="This class behaves like BM but it is evaluating EKF.">pmsmCRB</a>; 
     160<a name="l00109"></a>00109                  
     161<a name="l00110"></a>00110                 <span class="comment">//statistics</span> 
     162<a name="l00111"></a>00111                         <span class="keywordtype">int</span> dim=IM-&gt;<a class="code" href="classbdm_1_1fnc.html#083832294da9d1e40804158b979c4341" title="access function">dimension</a>(); 
     163<a name="l00112"></a>00112                         vec mu0; 
     164<a name="l00113"></a>00113                         mat P0; 
     165<a name="l00114"></a>00114                         <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);}; 
     166<a name="l00115"></a>00115                         <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>{ 
     167<a name="l00116"></a>00116                                 <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=<a class="code" href="group__specmat.html#gbfc73e72a56769280cd9fda812367196" title="A non-copying version of the eye function.">eye</a>(dim);}; 
     168<a name="l00117"></a>00117                         } 
     169<a name="l00118"></a>00118                         E-&gt;<a class="code" href="classbdm_1_1EKFfull.html#1949a9b1496a855cc7c24e619bc52365" title="set estimates">set_statistics</a>(mu0,P0); 
     170<a name="l00119"></a>00119                  
     171<a name="l00120"></a>00120                         E-&gt;<a class="code" href="classbdm_1_1EKFfull.html#78748da361ba61fef162b0d8956d1743" title="Set nonlinear functions for mean values and covariance matrices.">set_parameters</a>(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>]))); 
     172<a name="l00121"></a>00121  
     173<a name="l00122"></a>00122                 <span class="comment">//connect</span> 
     174<a name="l00123"></a>00123                         <a class="code" href="classbdm_1_1RV.html" title="Class representing variables, most often random variables.">RV</a>* drv; UIbuild(S[<span class="stringliteral">"drv"</span>],drv); 
     175<a name="l00124"></a>00124                         E-&gt;<a class="code" href="classbdm_1_1BM.html#f135ae6dce7e9f30c9f88229c7930b96">set_drv</a>(*drv); 
     176<a name="l00125"></a>00125                         <a class="code" href="classbdm_1_1RV.html" title="Class representing variables, most often random variables.">RV</a>* rv; UIbuild(S[<span class="stringliteral">"rv"</span>],rv); 
     177<a name="l00126"></a>00126                         E-&gt;<a class="code" href="classbdm_1_1BM.html#b38d92f17620813ad872d86e01a26e5e">set_rv</a>(*rv); 
     178<a name="l00127"></a>00127                         <span class="keywordflow">return</span> E; 
     179<a name="l00128"></a>00128                 }        
     180<a name="l00129"></a>00129 }; 
     181<a name="l00130"></a>00130 UIREGISTER ( UIpmsmCRB ); 
     182<a name="l00131"></a>00131  
     183<a name="l00132"></a>00132 <span class="keyword">class </span>UIpmsmCRBMz: <span class="keyword">public</span> <a class="code" href="classbdm_1_1UIbuilder.html" title="Builds computational object from a UserInfo structure.">UIbuilder</a> { 
     184<a name="l00133"></a>00133         <span class="keyword">public</span>: 
     185<a name="l00134"></a>00134                 UIpmsmCRBMz():<a class="code" href="classbdm_1_1UIbuilder.html" title="Builds computational object from a UserInfo structure.">UIbuilder</a>(<span class="stringliteral">"pmsmCRBMz"</span>){}; 
     186<a name="l00135"></a>00135                 <a class="code" href="classbdm_1_1bdmroot.html" title="Root class of BDM objects.">bdmroot</a>* <a class="code" href="classbdm_1_1UIbuilder.html#193cede6302669ff48dfd8ab3b7e31f8" title="Function building the computational object.">build</a> ( Setting &amp;S )<span class="keyword"> const </span>{ 
     187<a name="l00136"></a>00136                         <a class="code" href="classbdm_1_1diffbifn.html" title="Class representing a differentiable function of two variables .">diffbifn</a>* IM; UIbuild(S[<span class="stringliteral">"IM"</span>],IM); 
     188<a name="l00137"></a>00137                         <a class="code" href="classbdm_1_1diffbifn.html" title="Class representing a differentiable function of two variables .">diffbifn</a>* OM; UIbuild(S[<span class="stringliteral">"OM"</span>],OM); 
     189<a name="l00138"></a>00138                  
     190<a name="l00139"></a>00139                 <span class="comment">//parameters</span> 
     191<a name="l00140"></a>00140                         <a class="code" href="classpmsmCRBMz.html" title="This class behaves like BM but it is evaluating EKF.">pmsmCRBMz</a>* E; E=<span class="keyword">new</span> <a class="code" href="classpmsmCRBMz.html" title="This class behaves like BM but it is evaluating EKF.">pmsmCRBMz</a>; 
     192<a name="l00141"></a>00141                  
     193<a name="l00142"></a>00142                 <span class="comment">//statistics</span> 
     194<a name="l00143"></a>00143                         <span class="keywordtype">int</span> dim=IM-&gt;<a class="code" href="classbdm_1_1fnc.html#083832294da9d1e40804158b979c4341" title="access function">dimension</a>(); 
     195<a name="l00144"></a>00144                         vec mu0; 
     196<a name="l00145"></a>00145                         mat P0; 
     197<a name="l00146"></a>00146                         <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);}; 
     198<a name="l00147"></a>00147                         <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>{ 
     199<a name="l00148"></a>00148                                 <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=<a class="code" href="group__specmat.html#gbfc73e72a56769280cd9fda812367196" title="A non-copying version of the eye function.">eye</a>(dim);}; 
     200<a name="l00149"></a>00149                         } 
     201<a name="l00150"></a>00150                         E-&gt;<a class="code" href="classbdm_1_1EKFfull.html#1949a9b1496a855cc7c24e619bc52365" title="set estimates">set_statistics</a>(mu0,P0); 
     202<a name="l00151"></a>00151                  
     203<a name="l00152"></a>00152                         E-&gt;<a class="code" href="classbdm_1_1EKFfull.html#78748da361ba61fef162b0d8956d1743" title="Set nonlinear functions for mean values and covariance matrices.">set_parameters</a>(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>]))); 
     204<a name="l00153"></a>00153  
     205<a name="l00154"></a>00154                 <span class="comment">//connect</span> 
     206<a name="l00155"></a>00155                         <a class="code" href="classbdm_1_1RV.html" title="Class representing variables, most often random variables.">RV</a>* drv; UIbuild(S[<span class="stringliteral">"drv"</span>],drv); 
     207<a name="l00156"></a>00156                         E-&gt;<a class="code" href="classbdm_1_1BM.html#f135ae6dce7e9f30c9f88229c7930b96">set_drv</a>(*drv); 
     208<a name="l00157"></a>00157                         <a class="code" href="classbdm_1_1RV.html" title="Class representing variables, most often random variables.">RV</a>* rv; UIbuild(S[<span class="stringliteral">"rv"</span>],rv); 
     209<a name="l00158"></a>00158                         E-&gt;<a class="code" href="classbdm_1_1BM.html#b38d92f17620813ad872d86e01a26e5e">set_rv</a>(*rv); 
     210<a name="l00159"></a>00159                         <span class="keywordflow">return</span> E; 
     211<a name="l00160"></a>00160                 }        
     212<a name="l00161"></a>00161 }; 
     213<a name="l00162"></a>00162 UIREGISTER ( UIpmsmCRBMz ); 
    168214</pre></div></div> 
    169 <hr size="1"><address style="text-align: right;"><small>Generated on Thu Apr 23 21:06:42 2009 for mixpp by&nbsp; 
     215<hr size="1"><address style="text-align: right;"><small>Generated on Tue Jun 2 10:02:12 2009 for mixpp by&nbsp; 
    170216<a href="http://www.doxygen.org/index.html"> 
    171217<img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.8 </small></address>