Changeset 477 for library/tests/test_kalman_QRexh.cpp

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/tests/test_kalman_QRexh.cpp (modified) (4 diffs)

library/tests/test_kalman_QRexh.cpp

@@ -11 +11 @@
 int main() {
         // Klaman filter
-        mat A, B,C,D,R,Q,P0;
+        mat A, B, C, D, R, Q, P0;
         vec mu0;
         mat Mu0;// read from matlab
@@ -17 +17 @@
         it_file fin ( "testKF.it" );
 
-        mat Dt, XQRt,eR,eQ;
+        mat Dt, XQRt, eR, eQ;
         int Ndat;
 
-        bool xxx= fin.seek ( "d" );
+        bool xxx = fin.seek ( "d" );
 
-        if ( !xxx ) { it_error ( "testKF.it not found" );}
+        if ( !xxx ) {
+                it_error ( "testKF.it not found" );
+        }
 
-        fin >>Dt;
+        fin >> Dt;
 
         fin.seek ( "A" );
@@ -36 +38 @@
         fin.seek ( "R" );
         fin >> R;
-        fin.seek ( "Q" ); fin >> Q;
-        fin.seek ( "P0" ); fin >> P0;
-        fin.seek ( "mu0" ); fin >> Mu0;
-        mu0=Mu0.get_col ( 0 );
+        fin.seek ( "Q" );
+        fin >> Q;
+        fin.seek ( "P0" );
+        fin >> P0;
+        fin.seek ( "mu0" );
+        fin >> Mu0;
+        mu0 = Mu0.get_col ( 0 );
 
         vec vQ1 = "0.01:0.04:1";
@@ -48 +53 @@
         Ndat = Dt.cols();
 
-        RV rx ( "{x}","2" );
-        RV ru ( "{u}","1" );
-        RV ry ( "{y}","2" );
+        RV rx ( "{x}", "2" );
+        RV ru ( "{u}", "1" );
+        RV ry ( "{y}", "2" );
         //
         //
         Kalman<ldmat> KFtr;
 
-        for ( int i =0; i<vQ1.length();i++ ) {
+        for ( int i = 0; i < vQ1.length(); i++ ) {
 
-                for ( int j = 0; j<vQ2.length();j++ ) {
+                for ( int j = 0; j < vQ2.length(); j++ ) {
                         // KF with R unknown
                         mat Qj = Q;
-                        Qj ( 0,0 ) = vQ1 ( i );
-                        Qj ( 1,1 ) = vQ2 ( j );
-                        KFtr.set_parameters ( A,B,C,D,ldmat ( R ),ldmat ( Qj ) );
-                        KFtr.set_est ( mu0,ldmat ( P0 ) );
+                        Qj ( 0, 0 ) = vQ1 ( i );
+                        Qj ( 1, 1 ) = vQ2 ( j );
+                        KFtr.set_parameters ( A, B, C, D, ldmat ( R ), ldmat ( Qj ) );
+                        KFtr.set_est ( mu0, ldmat ( P0 ) );
 
-                        for ( int t=1;t<Ndat;t++ ) {
+                        for ( int t = 1; t < Ndat; t++ ) {
                                 KFtr.bayes ( Dt.get_col ( t ) );
-                                LL ( i,j ) += KFtr._ll();
+                                LL ( i, j ) += KFtr._ll();
                         }
                 }