Changeset 354 for doc/html/libKF_8h-source.html

Timestamp:

06/02/09 10:24:26 (16 years ago)

Author:

smidl

Message:

doc - oprava

Files:

• doc/html/libKF_8h-source.html (modified) (11 diffs)

doc/html/libKF_8h-source.html

@@ -219 +219 @@
 <a name="l00270"></a><a class="code" href="classbdm_1_1KFcondQR.html#31bc31087ee7ed6c0bfb92d626321b91">00270</a>                         <span class="keywordtype">void</span> <a class="code" href="classbdm_1_1KFcondQR.html#31bc31087ee7ed6c0bfb92d626321b91" title="Substitute val for rvc.">condition</a> ( <span class="keyword">const</span> vec &amp;QR )
 <a name="l00271"></a>00271                         {
-<a name="l00272"></a>00272                                 <a class="code" href="group__errorhandlingfunc.html#gb319550e696ee9d824d23c2a176bc3a6" title="Abort if t is not true and NDEBUG is not defined.">it_assert_debug</a> ( QR.length() == ( <a class="code" href="classbdm_1_1Kalman.html#ba7699cdb3b1382a54d3e28b9b7517fa" title="cache of rv.count()">dimx</a>+<a class="code" href="classbdm_1_1Kalman.html#d2c36ba01760bf207b985bf321b7817f" title="cache of rvy.count()">dimy</a> ),<span class="stringliteral">"KFcondRQ: conditioning by incompatible vector"</span> );
+<a name="l00272"></a>00272                                 it_assert_debug ( QR.length() == ( <a class="code" href="classbdm_1_1Kalman.html#ba7699cdb3b1382a54d3e28b9b7517fa" title="cache of rv.count()">dimx</a>+<a class="code" href="classbdm_1_1Kalman.html#d2c36ba01760bf207b985bf321b7817f" title="cache of rvy.count()">dimy</a> ),<span class="stringliteral">"KFcondRQ: conditioning by incompatible vector"</span> );
 <a name="l00273"></a>00273 
 <a name="l00274"></a>00274                                 <a class="code" href="classbdm_1_1Kalman.html#70f8bf19e81b532c60fd3a7a152425ee" title="Matrix Q in square-root form.">Q</a>.<a class="code" href="classldmat.html#0884a613b94fde61bfc84288e73ce57f" title="Access functions.">setD</a> ( QR ( 0, <a class="code" href="classbdm_1_1Kalman.html#ba7699cdb3b1382a54d3e28b9b7517fa" title="cache of rv.count()">dimx</a>-1 ) );
@@ -234 +234 @@
 <a name="l00290"></a><a class="code" href="classbdm_1_1KFcondR.html#7d42a421acbdcf9b610a5682ee5fb9a8">00290</a>                         <span class="keywordtype">void</span> <a class="code" href="classbdm_1_1KFcondR.html#7d42a421acbdcf9b610a5682ee5fb9a8" title="Substitute val for rvc.">condition</a> ( <span class="keyword">const</span> vec &amp;R0 )
 <a name="l00291"></a>00291                         {
-<a name="l00292"></a>00292                                 <a class="code" href="group__errorhandlingfunc.html#gb319550e696ee9d824d23c2a176bc3a6" title="Abort if t is not true and NDEBUG is not defined.">it_assert_debug</a> ( R0.length() == ( <a class="code" href="classbdm_1_1Kalman.html#d2c36ba01760bf207b985bf321b7817f" title="cache of rvy.count()">dimy</a> ),<span class="stringliteral">"KFcondR: conditioning by incompatible vector"</span> );
+<a name="l00292"></a>00292                                 it_assert_debug ( R0.length() == ( <a class="code" href="classbdm_1_1Kalman.html#d2c36ba01760bf207b985bf321b7817f" title="cache of rvy.count()">dimy</a> ),<span class="stringliteral">"KFcondR: conditioning by incompatible vector"</span> );
 <a name="l00293"></a>00293 
 <a name="l00294"></a>00294                                 <a class="code" href="classbdm_1_1Kalman.html#475b088287cdfbba4dc60a3d027728b7" title="Matrix R in square-root form.">R</a>.<a class="code" href="classldmat.html#0884a613b94fde61bfc84288e73ce57f" title="Access functions.">setD</a> ( R0 );
@@ -270 +270 @@
 <a name="l00327"></a>00327                 <a class="code" href="classbdm_1_1Kalman.html#c5136ef617f6ac0e426bea222755d92b" title="cache of rvu.count()">dimu</a> = B0.cols();
 <a name="l00328"></a>00328 
-<a name="l00329"></a>00329                 <a class="code" href="group__errorhandlingfunc.html#gb319550e696ee9d824d23c2a176bc3a6" title="Abort if t is not true and NDEBUG is not defined.">it_assert_debug</a> ( A0.cols() ==<a class="code" href="classbdm_1_1Kalman.html#ba7699cdb3b1382a54d3e28b9b7517fa" title="cache of rv.count()">dimx</a>, <span class="stringliteral">"Kalman: A is not square"</span> );
-<a name="l00330"></a>00330                 <a class="code" href="group__errorhandlingfunc.html#gb319550e696ee9d824d23c2a176bc3a6" title="Abort if t is not true and NDEBUG is not defined.">it_assert_debug</a> ( B0.rows() ==<a class="code" href="classbdm_1_1Kalman.html#ba7699cdb3b1382a54d3e28b9b7517fa" title="cache of rv.count()">dimx</a>, <span class="stringliteral">"Kalman: B is not compatible"</span> );
-<a name="l00331"></a>00331                 <a class="code" href="group__errorhandlingfunc.html#gb319550e696ee9d824d23c2a176bc3a6" title="Abort if t is not true and NDEBUG is not defined.">it_assert_debug</a> ( C0.cols() ==<a class="code" href="classbdm_1_1Kalman.html#ba7699cdb3b1382a54d3e28b9b7517fa" title="cache of rv.count()">dimx</a>, <span class="stringliteral">"Kalman: C is not square"</span> );
-<a name="l00332"></a>00332                 <a class="code" href="group__errorhandlingfunc.html#gb319550e696ee9d824d23c2a176bc3a6" title="Abort if t is not true and NDEBUG is not defined.">it_assert_debug</a> ( ( D0.rows() ==<a class="code" href="classbdm_1_1Kalman.html#d2c36ba01760bf207b985bf321b7817f" title="cache of rvy.count()">dimy</a> ) || ( D0.cols() ==<a class="code" href="classbdm_1_1Kalman.html#c5136ef617f6ac0e426bea222755d92b" title="cache of rvu.count()">dimu</a> ), <span class="stringliteral">"Kalman: D is not compatible"</span> );
-<a name="l00333"></a>00333                 <a class="code" href="group__errorhandlingfunc.html#gb319550e696ee9d824d23c2a176bc3a6" title="Abort if t is not true and NDEBUG is not defined.">it_assert_debug</a> ( ( R0.cols() ==<a class="code" href="classbdm_1_1Kalman.html#d2c36ba01760bf207b985bf321b7817f" title="cache of rvy.count()">dimy</a> ) || ( R0.rows() ==<a class="code" href="classbdm_1_1Kalman.html#d2c36ba01760bf207b985bf321b7817f" title="cache of rvy.count()">dimy</a> ), <span class="stringliteral">"Kalman: R is not compatible"</span> );
-<a name="l00334"></a>00334                 <a class="code" href="group__errorhandlingfunc.html#gb319550e696ee9d824d23c2a176bc3a6" title="Abort if t is not true and NDEBUG is not defined.">it_assert_debug</a> ( ( Q0.cols() ==<a class="code" href="classbdm_1_1Kalman.html#ba7699cdb3b1382a54d3e28b9b7517fa" title="cache of rv.count()">dimx</a> ) || ( Q0.rows() ==<a class="code" href="classbdm_1_1Kalman.html#ba7699cdb3b1382a54d3e28b9b7517fa" title="cache of rv.count()">dimx</a> ), <span class="stringliteral">"Kalman: Q is not compatible"</span> );
+<a name="l00329"></a>00329                 it_assert_debug ( A0.cols() ==<a class="code" href="classbdm_1_1Kalman.html#ba7699cdb3b1382a54d3e28b9b7517fa" title="cache of rv.count()">dimx</a>, <span class="stringliteral">"Kalman: A is not square"</span> );
+<a name="l00330"></a>00330                 it_assert_debug ( B0.rows() ==<a class="code" href="classbdm_1_1Kalman.html#ba7699cdb3b1382a54d3e28b9b7517fa" title="cache of rv.count()">dimx</a>, <span class="stringliteral">"Kalman: B is not compatible"</span> );
+<a name="l00331"></a>00331                 it_assert_debug ( C0.cols() ==<a class="code" href="classbdm_1_1Kalman.html#ba7699cdb3b1382a54d3e28b9b7517fa" title="cache of rv.count()">dimx</a>, <span class="stringliteral">"Kalman: C is not square"</span> );
+<a name="l00332"></a>00332                 it_assert_debug ( ( D0.rows() ==<a class="code" href="classbdm_1_1Kalman.html#d2c36ba01760bf207b985bf321b7817f" title="cache of rvy.count()">dimy</a> ) || ( D0.cols() ==<a class="code" href="classbdm_1_1Kalman.html#c5136ef617f6ac0e426bea222755d92b" title="cache of rvu.count()">dimu</a> ), <span class="stringliteral">"Kalman: D is not compatible"</span> );
+<a name="l00333"></a>00333                 it_assert_debug ( ( R0.cols() ==<a class="code" href="classbdm_1_1Kalman.html#d2c36ba01760bf207b985bf321b7817f" title="cache of rvy.count()">dimy</a> ) || ( R0.rows() ==<a class="code" href="classbdm_1_1Kalman.html#d2c36ba01760bf207b985bf321b7817f" title="cache of rvy.count()">dimy</a> ), <span class="stringliteral">"Kalman: R is not compatible"</span> );
+<a name="l00334"></a>00334                 it_assert_debug ( ( Q0.cols() ==<a class="code" href="classbdm_1_1Kalman.html#ba7699cdb3b1382a54d3e28b9b7517fa" title="cache of rv.count()">dimx</a> ) || ( Q0.rows() ==<a class="code" href="classbdm_1_1Kalman.html#ba7699cdb3b1382a54d3e28b9b7517fa" title="cache of rv.count()">dimx</a> ), <span class="stringliteral">"Kalman: Q is not compatible"</span> );
 <a name="l00335"></a>00335 
 <a name="l00336"></a>00336                 <a class="code" href="classbdm_1_1Kalman.html#0a2072e2090c10fac74ad30a023a4ace" title="Matrix A.">A</a> = A0;
@@ -288 +288 @@
 <a name="l00345"></a><a class="code" href="classbdm_1_1Kalman.html#4a39330c14eff8d13179e868a1d1aa8c">00345</a>         <span class="keywordtype">void</span> <a class="code" href="classbdm_1_1Kalman.html#4a39330c14eff8d13179e868a1d1aa8c" title="Here dt = [yt;ut] of appropriate dimensions.">Kalman&lt;sq_T&gt;::bayes</a> ( <span class="keyword">const</span> vec &amp;dt )
 <a name="l00346"></a>00346         {
-<a name="l00347"></a>00347                 <a class="code" href="group__errorhandlingfunc.html#gb319550e696ee9d824d23c2a176bc3a6" title="Abort if t is not true and NDEBUG is not defined.">it_assert_debug</a> ( dt.length() == ( <a class="code" href="classbdm_1_1Kalman.html#d2c36ba01760bf207b985bf321b7817f" title="cache of rvy.count()">dimy</a>+<a class="code" href="classbdm_1_1Kalman.html#c5136ef617f6ac0e426bea222755d92b" title="cache of rvu.count()">dimu</a> ),<span class="stringliteral">"KalmanFull::bayes wrong size of dt"</span> );
+<a name="l00347"></a>00347                 it_assert_debug ( dt.length() == ( <a class="code" href="classbdm_1_1Kalman.html#d2c36ba01760bf207b985bf321b7817f" title="cache of rvy.count()">dimy</a>+<a class="code" href="classbdm_1_1Kalman.html#c5136ef617f6ac0e426bea222755d92b" title="cache of rvu.count()">dimu</a> ),<span class="stringliteral">"KalmanFull::bayes wrong size of dt"</span> );
 <a name="l00348"></a>00348 
 <a name="l00349"></a>00349                 sq_T iRy ( <a class="code" href="classbdm_1_1Kalman.html#d2c36ba01760bf207b985bf321b7817f" title="cache of rvy.count()">dimy</a> );
@@ -328 +328 @@
 <a name="l00392"></a>00392         {
 <a name="l00393"></a>00393                 <span class="keyword">protected</span>:
-<a name="l00395"></a><a class="code" href="classbdm_1_1MultiModel.html#33de5d07ee774070632de8963b5d4c93">00395</a>                         <a class="code" href="classitpp_1_1Array.html">Array&lt;EKFCh*&gt;</a> <a class="code" href="classbdm_1_1MultiModel.html#33de5d07ee774070632de8963b5d4c93" title="List of models between which we switch.">Models</a>;
+<a name="l00395"></a><a class="code" href="classbdm_1_1MultiModel.html#33de5d07ee774070632de8963b5d4c93">00395</a>                         Array&lt;EKFCh*&gt; <a class="code" href="classbdm_1_1MultiModel.html#33de5d07ee774070632de8963b5d4c93" title="List of models between which we switch.">Models</a>;
 <a name="l00397"></a><a class="code" href="classbdm_1_1MultiModel.html#ef85ea61575bffa8beac8040869ee47a">00397</a>                         vec <a class="code" href="classbdm_1_1MultiModel.html#ef85ea61575bffa8beac8040869ee47a" title="vector of model weights">w</a>;
 <a name="l00399"></a><a class="code" href="classbdm_1_1MultiModel.html#7b4012fc2208ce4ddd5c0d1fe69d7634">00399</a>                         vec <a class="code" href="classbdm_1_1MultiModel.html#7b4012fc2208ce4ddd5c0d1fe69d7634" title="cache of model lls">_lls</a>;
@@ -334 +334 @@
 <a name="l00403"></a><a class="code" href="classbdm_1_1MultiModel.html#d665551d045b1a1055eeb9185558ff0b">00403</a>                         <a class="code" href="classbdm_1_1enorm.html">enorm&lt;chmat&gt;</a> <a class="code" href="classbdm_1_1MultiModel.html#d665551d045b1a1055eeb9185558ff0b" title="internal statistics">est</a>;
 <a name="l00404"></a>00404                 <span class="keyword">public</span>:
-<a name="l00405"></a>00405                         <span class="keywordtype">void</span> set_parameters ( <a class="code" href="classitpp_1_1Array.html">Array&lt;EKFCh*&gt;</a> A, <span class="keywordtype">int</span> pol0=1 )
+<a name="l00405"></a>00405                         <span class="keywordtype">void</span> set_parameters ( Array&lt;EKFCh*&gt; A, <span class="keywordtype">int</span> pol0=1 )
 <a name="l00406"></a>00406                         {
 <a name="l00407"></a>00407                                 <a class="code" href="classbdm_1_1MultiModel.html#33de5d07ee774070632de8963b5d4c93" title="List of models between which we switch.">Models</a>=A;<span class="comment">//TODO: test if evalll is set</span>
-<a name="l00408"></a>00408                                 <a class="code" href="classbdm_1_1MultiModel.html#ef85ea61575bffa8beac8040869ee47a" title="vector of model weights">w</a>.set_length ( A.<a class="code" href="classitpp_1_1Array.html#53629018f146084de506c33c69fa19a3" title="Returns the number of data elements in the array object.">length</a>() );
-<a name="l00409"></a>00409                                 <a class="code" href="classbdm_1_1MultiModel.html#7b4012fc2208ce4ddd5c0d1fe69d7634" title="cache of model lls">_lls</a>.set_length ( A.<a class="code" href="classitpp_1_1Array.html#53629018f146084de506c33c69fa19a3" title="Returns the number of data elements in the array object.">length</a>() );
+<a name="l00408"></a>00408                                 <a class="code" href="classbdm_1_1MultiModel.html#ef85ea61575bffa8beac8040869ee47a" title="vector of model weights">w</a>.set_length ( A.length() );
+<a name="l00409"></a>00409                                 <a class="code" href="classbdm_1_1MultiModel.html#7b4012fc2208ce4ddd5c0d1fe69d7634" title="cache of model lls">_lls</a>.set_length ( A.length() );
 <a name="l00410"></a>00410                                 <a class="code" href="classbdm_1_1MultiModel.html#9b56bcde4664bd53f8995d7ee7ed415c" title="type of switching policy [1=maximum,2=...]">policy</a>=pol0;
 <a name="l00411"></a>00411                                 
 <a name="l00412"></a>00412                                 <a class="code" href="classbdm_1_1MultiModel.html#d665551d045b1a1055eeb9185558ff0b" title="internal statistics">est</a>.<a class="code" href="classbdm_1_1epdf.html#f423e28448dbb69ef4905295ec8de8ff" title="Name its rv.">set_rv</a>(<a class="code" href="classbdm_1_1RV.html" title="Class representing variables, most often random variables.">RV</a>(<span class="stringliteral">"MM"</span>,A(0)-&gt;posterior().dimension(),0));
-<a name="l00413"></a>00413                                 <a class="code" href="classbdm_1_1MultiModel.html#d665551d045b1a1055eeb9185558ff0b" title="internal statistics">est</a>.<a class="code" href="classbdm_1_1enorm.html#b8322f2c11560871dd922c660f4771bb">set_parameters</a>(A(0)-&gt;_e()-&gt;<a class="code" href="group__statistics.html#gc370b4cfdc6baa037b7442ae6e2c4b5c" title="The mean value.">mean</a>(), A(0)-&gt;_e()-&gt;_R());
+<a name="l00413"></a>00413                                 <a class="code" href="classbdm_1_1MultiModel.html#d665551d045b1a1055eeb9185558ff0b" title="internal statistics">est</a>.<a class="code" href="classbdm_1_1enorm.html#b8322f2c11560871dd922c660f4771bb">set_parameters</a>(A(0)-&gt;_e()-&gt;mean(), A(0)-&gt;_e()-&gt;_R());
 <a name="l00414"></a>00414                         }
 <a name="l00415"></a><a class="code" href="classbdm_1_1MultiModel.html#a915deeddb0e94c337d02ebc0abe535e">00415</a>                         <span class="keywordtype">void</span> <a class="code" href="classbdm_1_1MultiModel.html#a915deeddb0e94c337d02ebc0abe535e" title="Incremental Bayes rule.">bayes</a> ( <span class="keyword">const</span> vec &amp;dt )
 <a name="l00416"></a>00416                         {
-<a name="l00417"></a>00417                                 <span class="keywordtype">int</span> n = <a class="code" href="classbdm_1_1MultiModel.html#33de5d07ee774070632de8963b5d4c93" title="List of models between which we switch.">Models</a>.<a class="code" href="classitpp_1_1Array.html#53629018f146084de506c33c69fa19a3" title="Returns the number of data elements in the array object.">length</a>();
+<a name="l00417"></a>00417                                 <span class="keywordtype">int</span> n = <a class="code" href="classbdm_1_1MultiModel.html#33de5d07ee774070632de8963b5d4c93" title="List of models between which we switch.">Models</a>.length();
 <a name="l00418"></a>00418                                 <span class="keywordtype">int</span> i;
 <a name="l00419"></a>00419                                 <span class="keywordflow">for</span> ( i=0;i&lt;n;i++ )
@@ -353 +353 @@
 <a name="l00422"></a>00422                                         <a class="code" href="classbdm_1_1MultiModel.html#7b4012fc2208ce4ddd5c0d1fe69d7634" title="cache of model lls">_lls</a> ( i ) = <a class="code" href="classbdm_1_1MultiModel.html#33de5d07ee774070632de8963b5d4c93" title="List of models between which we switch.">Models</a> ( i )-&gt;_ll();
 <a name="l00423"></a>00423                                 }
-<a name="l00424"></a>00424                                 <span class="keywordtype">double</span> mlls=<a class="code" href="group__protocol.html#g3e4e78a5230c444344a135c661163ef2" title="ADD DOCUMENTATION HERE.">max</a> ( <a class="code" href="classbdm_1_1MultiModel.html#7b4012fc2208ce4ddd5c0d1fe69d7634" title="cache of model lls">_lls</a> );
-<a name="l00425"></a>00425                                 <a class="code" href="classbdm_1_1MultiModel.html#ef85ea61575bffa8beac8040869ee47a" title="vector of model weights">w</a>=<a class="code" href="group__logexpfunc.html#g7a3da29d4e6a8c814237453086793335" title="Exp of the elements of a complex matrix m.">exp</a> ( <a class="code" href="classbdm_1_1MultiModel.html#7b4012fc2208ce4ddd5c0d1fe69d7634" title="cache of model lls">_lls</a>-mlls );
-<a name="l00426"></a>00426                                 <a class="code" href="classbdm_1_1MultiModel.html#ef85ea61575bffa8beac8040869ee47a" title="vector of model weights">w</a>/=<a class="code" href="group__matrix__functions.html#gfcf8f54c2f4fc257bbc3111700b08355" title="Sum of elements in the matrix m, either along columns or rows.">sum</a> ( <a class="code" href="classbdm_1_1MultiModel.html#ef85ea61575bffa8beac8040869ee47a" title="vector of model weights">w</a> ); <span class="comment">//normalization</span>
+<a name="l00424"></a>00424                                 <span class="keywordtype">double</span> mlls=max ( <a class="code" href="classbdm_1_1MultiModel.html#7b4012fc2208ce4ddd5c0d1fe69d7634" title="cache of model lls">_lls</a> );
+<a name="l00425"></a>00425                                 <a class="code" href="classbdm_1_1MultiModel.html#ef85ea61575bffa8beac8040869ee47a" title="vector of model weights">w</a>=exp ( <a class="code" href="classbdm_1_1MultiModel.html#7b4012fc2208ce4ddd5c0d1fe69d7634" title="cache of model lls">_lls</a>-mlls );
+<a name="l00426"></a>00426                                 <a class="code" href="classbdm_1_1MultiModel.html#ef85ea61575bffa8beac8040869ee47a" title="vector of model weights">w</a>/=sum ( <a class="code" href="classbdm_1_1MultiModel.html#ef85ea61575bffa8beac8040869ee47a" title="vector of model weights">w</a> ); <span class="comment">//normalization</span>
 <a name="l00427"></a>00427                                 <span class="comment">//set statistics</span>
 <a name="l00428"></a>00428                                 <span class="keywordflow">switch</span> ( <a class="code" href="classbdm_1_1MultiModel.html#9b56bcde4664bd53f8995d7ee7ed415c" title="type of switching policy [1=maximum,2=...]">policy</a> )
@@ -361 +361 @@
 <a name="l00430"></a>00430                                         <span class="keywordflow">case</span> 1:
 <a name="l00431"></a>00431                                         {
-<a name="l00432"></a>00432                                                 <span class="keywordtype">int</span> mi=<a class="code" href="group__miscfunc.html#gf946a722644d53040d3c4e363646a39b" title="Return the postion of the maximum element in the matrix.">max_index</a> ( <a class="code" href="classbdm_1_1MultiModel.html#ef85ea61575bffa8beac8040869ee47a" title="vector of model weights">w</a> );
+<a name="l00432"></a>00432                                                 <span class="keywordtype">int</span> mi=max_index ( <a class="code" href="classbdm_1_1MultiModel.html#ef85ea61575bffa8beac8040869ee47a" title="vector of model weights">w</a> );
 <a name="l00433"></a>00433                                                 <span class="keyword">const</span> <a class="code" href="classbdm_1_1enorm.html">enorm&lt;chmat&gt;</a>* st=(<a class="code" href="classbdm_1_1MultiModel.html#33de5d07ee774070632de8963b5d4c93" title="List of models between which we switch.">Models</a>(mi)-&gt;_e());
 <a name="l00434"></a>00434                                                 <a class="code" href="classbdm_1_1MultiModel.html#d665551d045b1a1055eeb9185558ff0b" title="internal statistics">est</a>.<a class="code" href="classbdm_1_1enorm.html#b8322f2c11560871dd922c660f4771bb">set_parameters</a>(st-&gt;<a class="code" href="classbdm_1_1enorm.html#b2fa2915c35366392fe9bb022ca1a600" title="return expected value">mean</a>(), st-&gt;<a class="code" href="classbdm_1_1enorm.html#81d81e35e57c9f194bde248e3affcf1f">_R</a>());
 <a name="l00435"></a>00435                                         }
 <a name="l00436"></a>00436                                         <span class="keywordflow">break</span>;
-<a name="l00437"></a>00437                                         <span class="keywordflow">default</span>: <a class="code" href="group__errorhandlingfunc.html#g22d38e98332f9edff88cc501463eedce" title="Abort unconditionally.">it_error</a> ( <span class="stringliteral">"unknown policy"</span> );
+<a name="l00437"></a>00437                                         <span class="keywordflow">default</span>: it_error ( <span class="stringliteral">"unknown policy"</span> );
 <a name="l00438"></a>00438                                 }
 <a name="l00439"></a>00439                                 <span class="comment">// copy result to all models</span>
@@ -393 +393 @@
 <a name="l00462"></a>00462 
 <a name="l00463"></a>00463                 <span class="comment">//initialize matrices A C, later, these will be only updated!</span>
-<a name="l00464"></a>00464                 pfxu-&gt;<a class="code" href="classbdm_1_1diffbifn.html#651184f808a35f236dbfea21aca1b6ac" title="Evaluates  and writes result into A .">dfdx_cond</a> ( <a class="code" href="classbdm_1_1Kalman.html#fa172078091e45561343fa513dd573b0" title="cache of est.mu">_mu</a>,<a class="code" href="group__specmat.html#g10723ecada06221cbe64fe2736a59de1" title="A Double (rows,cols)-matrix of zeros.">zeros</a> ( <a class="code" href="classbdm_1_1Kalman.html#c5136ef617f6ac0e426bea222755d92b" title="cache of rvu.count()">dimu</a> ),<a class="code" href="classbdm_1_1Kalman.html#0a2072e2090c10fac74ad30a023a4ace" title="Matrix A.">A</a>,<span class="keyword">true</span> );
+<a name="l00464"></a>00464                 pfxu-&gt;<a class="code" href="classbdm_1_1diffbifn.html#651184f808a35f236dbfea21aca1b6ac" title="Evaluates  and writes result into A .">dfdx_cond</a> ( <a class="code" href="classbdm_1_1Kalman.html#fa172078091e45561343fa513dd573b0" title="cache of est.mu">_mu</a>,zeros ( <a class="code" href="classbdm_1_1Kalman.html#c5136ef617f6ac0e426bea222755d92b" title="cache of rvu.count()">dimu</a> ),<a class="code" href="classbdm_1_1Kalman.html#0a2072e2090c10fac74ad30a023a4ace" title="Matrix A.">A</a>,<span class="keyword">true</span> );
 <a name="l00465"></a>00465 <span class="comment">//      pfxu-&gt;dfdu_cond ( *_mu,zeros ( dimu ),B,true );</span>
 <a name="l00466"></a>00466                 <a class="code" href="classbdm_1_1Kalman.html#5977b2c81857948a35105f0e7840203c" title="Matrix B.">B</a>.clear();
-<a name="l00467"></a>00467                 phxu-&gt;<a class="code" href="classbdm_1_1diffbifn.html#651184f808a35f236dbfea21aca1b6ac" title="Evaluates  and writes result into A .">dfdx_cond</a> ( <a class="code" href="classbdm_1_1Kalman.html#fa172078091e45561343fa513dd573b0" title="cache of est.mu">_mu</a>,<a class="code" href="group__specmat.html#g10723ecada06221cbe64fe2736a59de1" title="A Double (rows,cols)-matrix of zeros.">zeros</a> ( <a class="code" href="classbdm_1_1Kalman.html#c5136ef617f6ac0e426bea222755d92b" title="cache of rvu.count()">dimu</a> ),<a class="code" href="classbdm_1_1Kalman.html#818eba63a23972786a4579ad30294177" title="Matrix C.">C</a>,<span class="keyword">true</span> );
+<a name="l00467"></a>00467                 phxu-&gt;<a class="code" href="classbdm_1_1diffbifn.html#651184f808a35f236dbfea21aca1b6ac" title="Evaluates  and writes result into A .">dfdx_cond</a> ( <a class="code" href="classbdm_1_1Kalman.html#fa172078091e45561343fa513dd573b0" title="cache of est.mu">_mu</a>,zeros ( <a class="code" href="classbdm_1_1Kalman.html#c5136ef617f6ac0e426bea222755d92b" title="cache of rvu.count()">dimu</a> ),<a class="code" href="classbdm_1_1Kalman.html#818eba63a23972786a4579ad30294177" title="Matrix C.">C</a>,<span class="keyword">true</span> );
 <a name="l00468"></a>00468 <span class="comment">//      phxu-&gt;dfdu_cond ( *_mu,zeros ( dimu ),D,true );</span>
 <a name="l00469"></a>00469                 <a class="code" href="classbdm_1_1Kalman.html#7b56ac423d0654b5755e4f852a870456" title="Matrix D.">D</a>.clear();
@@ -407 +407 @@
 <a name="l00476"></a><a class="code" href="classbdm_1_1EKF.html#3fb182ecc29b10ca1163cecbf3bcccfa">00476</a>         <span class="keywordtype">void</span> <a class="code" href="classbdm_1_1EKF.html#3fb182ecc29b10ca1163cecbf3bcccfa" title="Here dt = [yt;ut] of appropriate dimensions.">EKF&lt;sq_T&gt;::bayes</a> ( <span class="keyword">const</span> vec &amp;dt )
 <a name="l00477"></a>00477         {
-<a name="l00478"></a>00478                 <a class="code" href="group__errorhandlingfunc.html#gb319550e696ee9d824d23c2a176bc3a6" title="Abort if t is not true and NDEBUG is not defined.">it_assert_debug</a> ( dt.length() == ( <a class="code" href="classbdm_1_1Kalman.html#d2c36ba01760bf207b985bf321b7817f" title="cache of rvy.count()">dimy</a>+<a class="code" href="classbdm_1_1Kalman.html#c5136ef617f6ac0e426bea222755d92b" title="cache of rvu.count()">dimu</a> ),<span class="stringliteral">"KalmanFull::bayes wrong size of dt"</span> );
+<a name="l00478"></a>00478                 it_assert_debug ( dt.length() == ( <a class="code" href="classbdm_1_1Kalman.html#d2c36ba01760bf207b985bf321b7817f" title="cache of rvy.count()">dimy</a>+<a class="code" href="classbdm_1_1Kalman.html#c5136ef617f6ac0e426bea222755d92b" title="cache of rvu.count()">dimu</a> ),<span class="stringliteral">"KalmanFull::bayes wrong size of dt"</span> );
 <a name="l00479"></a>00479 
 <a name="l00480"></a>00480                 sq_T iRy ( <a class="code" href="classbdm_1_1Kalman.html#d2c36ba01760bf207b985bf321b7817f" title="cache of rvy.count()">dimy</a>,<a class="code" href="classbdm_1_1Kalman.html#d2c36ba01760bf207b985bf321b7817f" title="cache of rvy.count()">dimy</a> );
@@ -446 +446 @@
 <a name="l00515"></a>00515 
 </pre></div></div>
-<hr size="1"><address style="text-align: right;"><small>Generated on Tue Jun 2 10:02:12 2009 for mixpp by&nbsp;
+<hr size="1"><address style="text-align: right;"><small>Generated on Tue Jun 2 10:11:00 2009 for mixpp by&nbsp;
 <a href="http://www.doxygen.org/index.html">
 <img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.8 </small></address>