Changeset 477 for library/bdm/estim/ekf_template.h

Timestamp:

08/05/09 14:40:03 (15 years ago)

Author:

mido

Message:

panove, vite, jak jsem peclivej na upravu kodu.. snad se vam bude libit:) konfigurace je v souboru /system/astylerc

Files:

• library/bdm/estim/ekf_template.h (modified) (4 diffs)

library/bdm/estim/ekf_template.h

@@ -16 +16 @@
 #include "kalman.h"
 
-namespace bdm{
+namespace bdm {
 
 //!Extended Kalman filter with unknown \c Q and \c R
@@ -22 +22 @@
 public:
         void condition ( const vec &QR0 ) {
-                Q=diag(QR0(0,dimx-1));
-                R=diag(QR0(dimx,dimx+dimy-1));
+                Q = diag ( QR0 ( 0, dimx - 1 ) );
+                R = diag ( QR0 ( dimx, dimx + dimy - 1 ) );
         };
 };
@@ -31 +31 @@
 public:
         void condition ( const vec &Q0 ) {
-                Q.setD ( Q0,0 );
+                Q.setD ( Q0, 0 );
                 //from EKF
-                preA.set_submatrix ( dimy+dimx,dimy,Q._Ch() );
+                preA.set_submatrix ( dimy + dimx, dimy, Q._Ch() );
         };
 };
@@ -39 +39 @@
 //!Extended Kalman filter in Choleski form with unknown \c Q
 class EKFCh_chQ : public EKFCh {
-        public:
-                void condition ( const vec &chQ0 ) {
-                        Q.setCh ( chQ0);
+public:
+        void condition ( const vec &chQ0 ) {
+                Q.setCh ( chQ0 );
                 //from EKF
-                        preA.set_submatrix ( dimy+dimx,dimy,Q._Ch() );
-                };
+                preA.set_submatrix ( dimy + dimx, dimy, Q._Ch() );
+        };
 };
 
 //!Extended Kalman filter with unknown parameters in \c IM
 class EKFCh_cond : public EKFCh  {
-        public:
-                void condition ( const vec &val ) {
-                        pfxu->condition ( val );
-                };
+public:
+        void condition ( const vec &val ) {
+                pfxu->condition ( val );
+        };
 };